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Wheel-tracked obstacle crossing mechanism

A wheel-tracking and wheel-axle technology, which is applied in the directions of motor vehicles, tracked vehicles, transportation and packaging, can solve the problems of poor stability and bulkiness of obstacles, and achieve the effect of simple structure, safety, stability and safety.

Inactive Publication Date: 2011-07-06
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, in order to meet the requirements of these indicators, the walking mechanism of the existing mobile robot often adopts a multi-motor, multi-folding track and auxiliary support wheel structure. The walking mechanism of this structure is too heavy and has poor stability on obstacles.

Method used

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  • Wheel-tracked obstacle crossing mechanism

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Embodiment Construction

[0021] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0022] Such as Figure 1-7 As shown, the present invention is made up of two parts with the same structure, and each part includes a crawler belt 7, a group of driving wheel sets 3, the first to third driven wheel sets 4 to 6 and the first and second elastic support arms 1, 2, wherein The two ends of the first elastic support arm 1 are respectively connected to the driving wheel set 3 and the second driven wheel set 5, and the two ends of the second elastic support arm 2 are respectively connected to the first and third driven wheel sets 4, 6, the driving wheel set 3 and the second driven wheel set 5 respectively. The first to third driven wheel sets 4 to 6 are connected by crawler belts 7; the first elastic support arm 1 includes a sleeve 13, a shaft core 15 and a spring 14, and the two ends of the shaft core 15 are respectively inserted with sleeves 13 , a...

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Abstract

The invention relates to a ground movement robot walking mechanism, in particular to a wheel-tracked obstacle crossing mechanism which comprises two parts with same structures, wherein each part comprises one group of drive wheel sets, three groups of driven wheel sets and two elastic support arms, two ends of the first elastic support arm are respectively connected with the driven wheel sets and the drive wheel sets, two ends of the second elastic support arm are respectively connected with the driven wheel sets, the second elastic support arm is relatively connected with the first elastic support arm in a swinging manner, the other end of a main wheel axle is respectively connected with two elastic support arms in the other part; a connecting bracket is arranged between the first elastic support arms of the two parts, a walking motor and a swing mechanism are respectively arranged on the connecting bracket, the walking motor is connected with the drive wheel sets; and the drive wheel sets are connected with the driven wheel sets through caterpillar bands. The wheel-tracked obstacle crossing mechanism walks on a flat ground by using wheels, thus the movement efficiency is improved; the wheel-tracked obstacle crossing mechanism walks on obstacles by using the caterpillar bands, thereby the stability and the safety during the obstacle crossing are ensured; and two walking modes are automatically switched.

Description

technical field [0001] The invention relates to a walking mechanism of a ground mobile robot, in particular to a wheel-track type obstacle-surmounting mechanism. Background technique [0002] Since the crawler mechanism is suitable for application on stairs (slopes, obstacles), and the wheels are suitable for application on flat ground, the switching between crawler tracks and wheels in obstacles and flat environments will help improve the mobile efficiency of the robot on the ground and on stairs ( Slopes, obstacles) the ability to overcome obstacles in the environment. In the process of going up and down stairs, slopes and crossing obstacles, the robot often needs to have a certain mechanism deformation ability to reduce the center of gravity on the stairs (slopes, obstacles) and increase the contact area. At present, in order to meet the requirements of these indicators, the walking mechanism of the existing mobile robot often adopts a multi-motor, multi-folding track an...

Claims

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Application Information

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IPC IPC(8): B62D55/02
Inventor 王挺姚辰李小凡王忠罗宇智迪徐梁刘敏杰
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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