Duplex triangle connecting frame variable configuration crawler-type obstacle-crossing mechanism

A tracked and connected frame technology, which is applied to tracked vehicles, motor vehicles, transportation and packaging, etc., can solve the problems of poor ability to cross ditches and steps, difficulty in multi-degree-of-freedom control, and low movement speed, so as to achieve fast operation, The deformation method is reasonable and novel, and the effect of high developability

Inactive Publication Date: 2014-03-26
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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] The legged robot has the characteristics of strong adaptability to the terrain and can cross large ditches and steps, but its disadvantage is that it is slow; the wheel-legged robot combines the terrain adaptability of the legged mechanism and the high-speed and high-efficiency performance of the wheeled mechanism. The disadvantage is that the structure Complex, cumbersome to control

Method used

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  • Duplex triangle connecting frame variable configuration crawler-type obstacle-crossing mechanism
  • Duplex triangle connecting frame variable configuration crawler-type obstacle-crossing mechanism
  • Duplex triangle connecting frame variable configuration crawler-type obstacle-crossing mechanism

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Embodiment Construction

[0036] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0037] combine Figure 1-22 , among the figure: 1. arc-shaped arm cover 1; 2. linear motor (elevator) 1; 3. axle housing 1; 4. triangle connecting frame I; 5. extension spring I; .Extension spring II; 8. Main connecting puller I; 9. Extension spring III; 10. Telescopic connecting plate I; 11. Shaft I; 12. Shaft II; 13. Shaft seat I; Wheel I; 16. Track I; 17. Shaft III; 18. Track wheel II; 19. Shaft seat II; 20. Shaft IV; 21. Drive motor compartment I; 24. Main motor compartment I; 25. Main motor I; 26. Driving motor II; 27. Main motor II; 28. Vehicle body; 29. ​​Shaft V; 32. lifting motor compartment I; 33. spring IV; 34. steps; 35. small rectangular obstacles; 36. ground; 37. large circular pipes; 38. small circular pipes.

[0038] Parts included in the present invention: main motor 1 25 and main motor compartment 1 24 (two pairs in total), symmetrically distr...

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Abstract

The invention aims to provide a duplex triangle connecting frame variable configuration crawler-type obstacle-crossing mechanism which comprises at least one obstacle-crossing unit, wherein each obstacle-crossing unit comprises a moving unit, an arc arm cover, a linear motor, a main connecting board, a main motor, a triangle connecting frame, a telescopic connecting board and a pull spring; and the moving unit comprises a crawler, a crawler wheel, a driving motor and a swing board. According to the invention, a duplex triangle connecting frame mechanism is adopted and is matched with the pull spring and the telescopic connecting board, multiple configuration variations of a robot are realized, and the obstacle-crossing property and maneuverability of a chassis are ensured; and the travelling and deformation modes are reasonable and novel, the structure is light, convenient and flexible, and the operation is rapid.

Description

technical field [0001] The invention relates to an obstacle-crossing mechanism for post-disaster on-site search and rescue, urban fire protection, and geological survey and detection. 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, and tracked according to its kinematic 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 multiple degrees of freedom is difficult and the motion speed is low. [0005] Wheeled robots h...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D55/06B62D55/075
Inventor 刘少刚郭云龙王飞刘铮鱼展林珊颖赵华鹤王璐许可曹虎辰
Owner HARBIN ENG UNIV
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