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Synchronous belt driving type full tracked robot

A crawler robot and synchronous belt drive technology, applied in tracked vehicles, motor vehicles, transportation and packaging, etc., can solve problems such as stuck, unable to meet the use requirements, increase the weight of mobile robots, etc., to achieve high maneuverability and good stability Effect

Inactive Publication Date: 2013-09-25
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, ground mobile robots are mostly wheeled, crawler or wheel-track composite mobile robots. Most crawler robots use narrow belts or partially covered tracks. In non-structurally complex terrain, crawler robots are likely to get stuck because the chassis is easy to directly touch the ground or collide. die
On the other hand, the current ground mobile crawler robots mostly use chain and gear transmission, which increases the weight of the mobile robot virtually in the mechanical structure, which makes ordinary crawler robots unable to meet the use requirements in occasions with high work requirements

Method used

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  • Synchronous belt driving type full tracked robot
  • Synchronous belt driving type full tracked robot
  • Synchronous belt driving type full tracked robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] 1. see figure 1 , the synchronous belt driven full track robot, including two independently driven main track devices 1-A, 1-B, four independently driven swing arm devices 2-A, 2-B, 2-C, 2-D , four supporting structures 3-A, 3-B, 3-C, 3-D, one rack 4, etc. The two independently driven main crawler devices 1-A, 1-B are identical and are installed parallel and side by side on the frame 4, so that the crawlers completely wrap the robot body with the frame 4 as the main body. , the four independently driven swing arm devices 2-A, 2-B, 2-C, 2-D are respectively installed by the four supporting mechanisms 3-A, 3-B, 3-C, 3-D At the four corners of the frame 4; the two main crawler devices 1-A, 1-B realize the moving and walking of the robot; ; Four independently driven swing arm devices 2-A, 2-B, 2-C, and 2-D are used to realize the robot's multi-pose adaptation to terrain and landform problems.

Embodiment 2

[0029] Embodiment 2: This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0030] The above two independently driven main crawlers 1-A and 1-B are identical, as figure 2Shown, all are by main drive motor 5, final reducer 6, main encoder 7, main small synchronous belt pulley 8, main synchronous belt 9, main large synchronous belt pulley 10, driving main shaft 11, rear swing arm wheel 12a and 12b, swing arm rubber track 13, front swing arm wheels 14a and 14b, driving wheel 15, main rubber track 16, driven wheel 17, passive main shaft 18 and the like. The final reducer 6 is connected to the frame middle plate 19 by bolts, such as Figure 7 As shown, and the main reducer 6 is arranged outside the following main rubber crawler 16; the main drive motor 5 is connected to the main reducer 6 through a double-ended stud, and the main encoder 7 is connected to the main drive motor 5 through a double-ended stud; the main small synchronous The...

Embodiment 3

[0034] Embodiment 3: This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0035] The above-mentioned main drive motors 5 are two in total and identical, symmetrically distributed on the outside of the frame 4 front and rear and installed on the frame middle plate 19 in the opposite direction; four swing arm drive motors 20 are identical, symmetrically arranged in the frame opposite to each other in front, rear, left, and right 4 outside and installed on the frame side plate 28;

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Abstract

The invention relates to a synchronous belt driving type full tracked robot which comprises two independently-driven main track devices, four independently-driven swing arm devices, four supporting mechanisms, a frame and the like. The two independently-driven main track devices are completely the same and arranged on the frame parallelly, tracks of the two main track devices cover the robot body up and down with the frame as a main body, and the four independently-driven swing arm devices are arranged at four corners of the frame through the four supporting mechanisms. The two main track devices achieve moving and walking of the robot and are driven independently to achieve speed difference of moving and steering. The four independently-driven swing arm devices are used for enabling the robot to adapt to landforms through multiple poses. The robot can finish behaviors of walking, steering, climbing, obstacle crossing, ditch crossing, going upstairs and downstairs and the like. The robot is made of rubber and aluminum alloy frame materials, is 25 kg in weight and has high maneuvering characteristics.

Description

technical field [0001] The invention belongs to the field of ground mobile robots, and relates to a synchronous belt-driven full-crawler robot that can adapt to complex terrain and landforms, many and narrow stepped terrains inside nuclear environment buildings, and whose body is fully covered with rubber crawlers. Background technique [0002] With the rapid development of society and the continuous expansion of the field of human activities, a large number of disasters such as nuclear leaks, earthquakes, fires, floods, and gas explosions in coal mines are threatening the safety of human beings, which have increasingly attracted people's attention. The application of ground mobile robots to collect information on accident and disaster sites has attracted widespread attention from all over the world. At present, ground mobile robots are mostly wheeled, crawler or wheel-track composite mobile robots. Most crawler robots use narrow belts or partially covered tracks. In non-str...

Claims

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Application Information

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IPC IPC(8): B62D57/032B62D55/18
Inventor 蒲华燕鲍仕龙王浩罗均谢少荣李恒宇
Owner SHANGHAI UNIV
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