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Small track robot based on connecting rod mechanism

A crawler robot and link mechanism technology, applied in the field of robots, can solve the problems of difficult to achieve precise operation, small headroom, easy to be blocked, etc., to improve rigid positioning state and position accuracy, reduce motor load, The effect of strong obstacle crossing performance

Inactive Publication Date: 2012-10-03
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the headroom of crawler robots is generally small and the volume is large, and they are easy to be blocked in messy and complex environments; articulated crawler robots can use the swing arm crawler to assist in overcoming obstacles, but in unknown, complex non-structural It is difficult to do precise operation in the environment

Method used

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  • Small track robot based on connecting rod mechanism
  • Small track robot based on connecting rod mechanism
  • Small track robot based on connecting rod mechanism

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Embodiment Construction

[0030] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0031] to combine Figure 1~1 2. Parts included in the present invention: the robot is mainly composed of rod groups 4, 14, 15, 32, track wheels 1, 2, 5, 6, 10, 11, 13, 17, 18, 19, 21, 25, 26, 28, 29, 31, 33, 40, crawler belts 3, 7, 12, 16, 23, 27, 30, 34, connecting rod motors 8, 9, 37, drive motors 41, 44, car body 24, etc.

[0032] On the side of the car body 24, see figure 1 , figure 2 : one end of the shaft VII48 is fixedly connected with one end of the connecting rod IV54 in the rod group IV32. One end of the shaft VI47 is connected and matched with the connecting rod IV54 and the connecting rod V55 in the rod group IV32, and the other end is connected and matched with one end of the connecting rod VI56. The crawler wheel XVI31 and the shaft VII are installed and matched for concentric asynchronous rotation. The track wheel XV29 is fixedly connected wi...

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Abstract

The invention aims to provide a small track robot based on a connecting rod mechanism. The small track robot comprises a car body, two groups of travelling mechanisms, two groups of connecting mechanisms, a driving motor and a connecting rod motor, wherein the two groups of travelling mechanisms and the two groups of connecting mechanisms are symmetrically arranged at two sides of the car body, the connecting rod motor comprises a first connecting rod motor and a second connecting rod motor, and the driving motor, the first connecting rod motor and the second connecting rod motor are all arranged on the car body. According to the invention, the connecting rod mechanism is introduced into a robot configuration design, a rigid positioning state and positioning precision of a track connecting frame are improved, motor load can be reduced by the connecting rod mechanism, a necessary condition is provided for further reducing the size of the robot, connecting rods are provided with multiple holes, the length of fit of the connecting rods can be adjusted according to the specific topography, the configuration posture and the variation range of the rod group are changed, and 21 robot configuration change states of the robot can be realized. The small track robot has very good topography adaptability.

Description

technical field [0001] The present invention relates to a robot, in particular to an obstacle-surmounting robot. Background technique [0002] The robot's obstacle-surmounting configuration design has important scientific research and application value in the academic field of robotics. The mobile carrier system of the obstacle-climbing mechanism can be divided into limbless, wheeled, legged, wheel-legged, and crawler-type according to its motion mechanism. Limbless 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. Wheeled robots have the characteristics of simple structure, light weight, small rolling friction resistance and high mechanical efficiency, but they have poor ability to cross ditches and steps. Legged robots have the characteristics of strong ability to adapt to the terrain, and can cross large ditches and step...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D55/065
Inventor 刘少刚郭云龙赵丹林珊颖刘铮鱼展谷清明刘海丰李芳李少杰
Owner HARBIN ENG UNIV
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