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Six-bar adaptive crawler robot

A crawler robot, self-adaptive technology, applied to tracked vehicles, motor vehicles, transportation and packaging, etc., can solve problems such as complex control, achieve simple control mechanism, good shock absorption effect, and good mechanical stability

Inactive Publication Date: 2016-04-13
青岛海艺自动化技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The deformed pendulum here is driven by a motor, and the control is more complicated

Method used

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  • Six-bar adaptive crawler robot
  • Six-bar adaptive crawler robot
  • Six-bar adaptive crawler robot

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Embodiment Construction

[0032] Further explain the present invention below in conjunction with accompanying drawing.

[0033] The six-bar self-adaptive crawler robot of the present invention comprises a crawler belt 1, a timing belt pulley A13, a timing belt pulley B14 engaged with the crawler belt 1, a timing belt pulley C15, a timing belt pulley D16, a timing belt pulley E17, and a timing belt pulley F18 , car body 2, the middle part of car body 2 is provided with driving motor 11, tail wheel 3, crawler belt is arranged on both sides of car body, wherein, the axle of synchronous belt pulley A13 and the output shaft of driving motor 11 mesh through gear 12, synchronous belt pulley A synchronous belt 19 is provided between A13 and the synchronous pulley C15.

[0034] The crawler belt 1 is supported by two symmetrically arranged six-bar linkage mechanisms. The six-bar linkage mechanism is composed of the frame 4, the front lower arm 5, the front upper arm 6, the main arm 7, the main arm 8, and the re...

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Abstract

The invention belongs to the field of a tracked robot and particularly relates to a six-rod self-adaptive tracked robot. The six-rod self-adaptive tracked robot comprises tracks, synchronous pulleys, a vehicle body and a driving motor at the middle part of the vehicle body, wherein each track is supported by two six-rod linkage mechanisms; each six-rod linkage mechanism is formed by a frame, a front lower arm, a front upper arm, a main arm, a rear arm and a big arm; the two six-rod linkage mechanisms are fixedly connected by brackets; a spring set is arranged between the bracket for fixing two big arms and the bracket for fixing two frames; and preferably, the six-rod self-adaptive tracked robot also comprises a tail wheel. The robot disclosed by the invention has strong stability and good obstacle crossing ability, is simple to control and can cross obstacles by the structure without obstacle crossing driving equipment; and meanwhile, only the frames are fixedly connected with the vehicle body, so that the six-rod self-adaptive tracked robot can obtain a better damping effect.

Description

technical field [0001] The invention belongs to the field of crawler robots, and in particular relates to a six-bar adaptive crawler robot. Background technique [0002] At present, typical tracked mobile robots can be divided into fixed tracked robots (single section and double tracks) and deformable tracked robots. [0003] Single-section double-track robots, URBOT, NUGV, and Talon robots in the United States are relatively typical single-section double-track robots. This type of robot includes two structures: inverted trapezoidal and prolate. Climb higher obstacles, but the center of gravity is higher and the contact length between the track and the slope or stairs is short, and the motion stability is poor; the prolate crawler robot has good stability, but the ability to climb obstacles is limited; the support wheels of the two structures The system frame is fixed as a whole with the locomotive, which seriously limits the shock absorption effect. [0004] Double-segmen...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D55/065B62D55/08B62D55/104
Inventor 马书根叶长龙张磊李元张焱
Owner 青岛海艺自动化技术有限公司
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