Small track robot based on connecting rod mechanism
A crawler robot and linkage mechanism technology, applied in the field of robotics, can solve problems such as difficult to achieve precise operation, small headroom, easy to be jammed, etc., to improve rigid positioning state and position accuracy, reduce motor load, The effect of strong obstacle performance
Inactive Publication Date: 2014-03-26
HARBIN ENG UNIV
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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
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[0030] The present invention will be described in more detail below in conjunction with the accompanying drawings:
[0031] combine Figures 1 to 1 2. Components included in the present invention: the robot is mainly composed of rod groups 4, 14, 15, 32, crawler 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, link motors 8, 9, 37, drive motors 41, 44, car body 24, etc.
[0032] On the hull 24 side, see figure 1 , figure 2 : One end of shaft VII48 is fixedly connected with one end of connecting rod IV54 in 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 as a rotating pair, and the other end is connected and matched with one end of the connecting rod VI56 as a rotating pair. The crawler wheel XVI31 and the shaft VII are installed and matched for concentric asynchronous rotation. The crawler wheel XⅤ29 is fix...
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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, specifically an obstacle crossing robot. Background technique [0002] The design of the robot's obstacle-crossing configuration has important scientific research and application value in the academic field of robotics. The mobile carrier system of the obstacle crossing mechanism can be divided into limbless, wheeled, legged, wheeled-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, low rolling friction resistance and high mechanical efficiency, but they have poor ability to cross trenches and steps. Legged robots have the characteristics of strong adaptability to terrain and can cross large trenches and steps, but thei...
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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