Reverse-quadrilateral bisectional track robot

Abstract

The invention discloses a reverse-quadrilateral bisectional track robot, relating to a track mobile robot, in particular to a connecting rod module comprising four track modules and a reverse-quadrilateral mechanism. The connecting-rod mechanism is beneficial to overcoming the defect of insufficient flexibility of the track mobile robot and performing the characteristic of flexibility and changeableness of a connecting-rod mechanism so as to enable the mobile robot to better adapt to changes of the traveled ground and improve the obstacle navigation performance of the mobile robot. The robot comprises a connecting-rod module (A), a first track module (B1), a second track module (B2), a third track module (B3) and a fourth track module (B4), wherein the track modules and the connecting-rodmodule are respectively provided with a motor, the connecting-rod module is a reverse-quadrilateral mechanism, the first track module and the third track module are connected with a first vehicle body (1), and the second track module and the fourth track module are connected with the second vehicle body (6). The reverse-quadrilateral bisectional track robot has the characteristics of high stability, flexibility and changeableness, is applicable to bumpy ground and has improved obstacle navigation capability.

Description

technical field [0001] The present invention relates to a kind of reverse quadrilateral two-section crawler robot, more specifically, it relates to a kind of composite mobile robot which is composed of four crawler modules and a set of antiparallelogram mechanism. Background technique [0002] Tracked mobile robots, wheeled mobile robots and legged mobile robots are the three most widely studied mobile robots and are currently the most widely used mobile robots. Compared with the other two mobile robots, the tracked mobile robot is characterized by good stability and strong passability. It can walk on uneven ground, pass obstacles and climb over larger slopes or stairs. However, the control of the movement direction of the tracked mobile robot is controlled by the speed difference between the left and right tracks. Therefore, there will be problems such as sliding, large resistance, poor turning radius and center accuracy when turning. Although the traditional tracked mobil...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to overcome the shortcoming of the lack of flexibility of the crawler-type mobile robot, and at the same time give full play to the flexible and changeable characteristics of the linkage mechanism, so that the mobile robot can better adapt to changes in the driving ground, so as to improve the mobility of the mobile robot. Obstacle clearance

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