Dual-V-shaped variable-track obstacle crossing mechanism based on ellipse principle

Abstract

The invention provides a dual-V-shaped variable-track obstacle crossing mechanism based on an ellipse principle, which solves the problem of inflexibility of the existing track robots in crossing obstacles. The mechanism comprises drive wheels and a track sleeved outside the drive wheels, wherein two drive wheels are arranged in the front and back direction of one side; the mechanism also comprises at least two planetary wheels which are connected with the two drive wheels through the track respectively; the position relationship between the drive wheels and the planetary wheels is as follows: the two drive wheels are located on two focuses of an invisible ellipse respectively, and the planetary wheels are located on the circle of the ellipse; the two planetary wheels are connected through a wheel system to realize symmetric motion of the two planetary wheels; the drive wheels are connected with a motor I to move forward or backward; and the planetary wheels are connected with a motor II to cross over the obstacle. The obstacle crossing mechanism improves the obstacle crossing performance and maneuverability of a tracked chassis, is simple, has strong deformability, good ground adaptability and relatively light weight, is easy to control, and can be applied to the chassis of various rescue and detection equipment.

Description

technical field [0001] The invention relates to a variable crawler-type obstacle-surmounting mechanism, which is an obstacle-surmounting mechanism based on the ellipse principle, and is especially suitable for chassis development of rescue robots and battlefield robots. Background technique [0002] Due to the successful application of rescue robots in the 9.11 incident, people have started to study the upsurge of rescue robots. The most important part of the rescue robot is the obstacle-surmounting mechanism and the mechanical body. Only when the obstacle is overcome well can the task be carried out smoothly. [0003] The mobile carrier of the obstacle climbing mechanism can be generally divided into serpentine (legless), wheeled, legged (humanoid), wheel-legged, crawler and compound according to its motion mechanism. [0004] Snake-shaped robots have the characteristics of good motion stability, strong ability to adapt to terrain, and high traction, but the control of mul...

AI Technical Summary

Problems solved by technology

[0004] Snake robots have the characteristics of good motion stability, strong ability to adapt to terrain and high traction, but the control of multiple degrees of freedom is difficult and the motion speed is low.

[0005] Wheeled robots have the characteristics of simple structure, light weight, small rolling friction resistance and high mechanical efficiency, but the ability to cross ditches and steps is poor

[0006] Legged robots have the characteristics of strong adaptability to terrain and can cross large trenches and steps, but their disadvantages are slow speed and poor stability

[0007] Wheel-legged and other composite robots can combine their own characteristics, but their disadvantages are complex structure and cumbersome control

[0008] Tracked robots are widely used in practical applications due to their strong adaptability to terrain, simple control, and small dynamic loads, but they are not flexible enough to overcome obstacles.

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