Body and linkage mechanism alternately-switched obstacle-surmounting traveling system

Abstract

The invention relates to an alternate obstacle-surmounting traveling system, which is a traveling mechanism with high adaptability to terrains. The alternate obstacle-surmounting traveling system comprises a body and linkage mechanisms capable of being mounted on two sides of the body. The front end and the back end of the body are bent, anti-slip teeth can be arranged at the bottom of the body and the outsides of the two bent ends, one or more linkage obstacle-surmounting traveling mechanisms can be arranged on two sides of the body, the number of wheels used in the linkage mechanisms is unlimited, and locking devices are arranged at the front end and at the back end of the body, so that a plurality of bodies can be conveniently connected end to end and locked into a whole. The alternate obstacle-surmounting traveling system is the obstacle-surmounting traveling mechanism which is high in efficiency and reliability, simple in mechanism and high in obstacle-surmounting capacity, and can travel on smooth terrains and uneven terrains such as rugged mountains, marshes, river valleys and beaches at a high speed.

Description

technical field [0001] The invention belongs to the field of mobile robots and obstacle-crossing vehicles, and in particular relates to an obstacle-crossing walking system capable of adapting to obstacles. Background technique [0002] With the rapid development of many fields such as my country's exploration and rescue, aerospace, fire-fighting and detonation, nuclear energy industry, military reconnaissance, etc., there is an urgent need for a device that can walk freely and overcome obstacles in field environments and complex terrains (such as disaster sites and earthquake ruins). mobile devices, such as robots, rovers, etc. The walking mechanism of existing mobile equipment can be roughly divided into: wheel type, crawler type, multi-legged type, hybrid type (such as wheel-shoe hybrid type, wheel-leg hybrid type) and special forms (such as serpentine sliding type, polygonal tumbling type) Mode). Among them, most of the multi-legged and special forms belong to the bionic...

AI Technical Summary

Problems solved by technology

Among them, most of the multi-legged and special forms belong to the bionic walking mechanism, which has a strong ability to overcome obstacles and adapt to the terrain. However, the mechanical structure of these two types of walking mechanisms is complex, the control is extremely difficult, and the mobility is relatively poor. In the early stages of research and development applications

After more than 100 years of development, the track has been proved to be a walking mechanism that can adapt to complex terrain and harsh environments, but its shortcomings are also obvious: bulky, requiring high-power drives, therefore, there are strict restrictions on portable or power Tracks are not suitable for mobile devices

Wheels appeared as early as more than 3,000 years ago, and are considered to be the walking mechanism with the highest energy conversion efficiency. Wheels have the advantages of lightness, simplicity, high speed, high efficiency, and simple control, making them enduring. It is powerless when dealing with complex terrain

Images