An underactuated crawler wheel mechanism

A crawler-type, under-actuated technology, applied in the field of robotics, can solve the problems that the adaptability needs to be strengthened, and achieve the effects of reducing cost and energy consumption, compact system, and strong obstacle-surpassing ability

Active Publication Date: 2016-08-17
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the current crawler wheel mechanism has a certain ability to adapt to the terrain, the adaptability to complex and changeable terrain and unstructured terrain with large slope changes still needs to be strengthened.

Method used

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  • An underactuated crawler wheel mechanism
  • An underactuated crawler wheel mechanism
  • An underactuated crawler wheel mechanism

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Experimental program
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Embodiment Construction

[0028] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0029] Such as figure 1 , 2 , 3 and 6, an underactuated crawler wheel mechanism, including a driving assembly 1, a driving wheel assembly 2, a driven wheel assembly 3, a swing arm assembly 4 and a track 5. The driving assembly 1 drives the driving wheel assembly 2; the driving wheel assembly 2 and the driven wheel assembly 3 are connected through the crawler belt 5 to drive the driven wheel assembly 3 to rotate; the driving wheel assembly 2 and the driven wheel assembly 3 are connected through the swing arm assembly 4 to drive the driven wheel assembly 3 swings.

[0030] Such as image 3 , 4As shown in and 5, the driving assembly 1 includes a driving motor 1-1, a transmission bevel gear 1-2, a motor box 1-3, an encoder 1-4, a third gear 1-5, a first connection plate 1-11, an electrical Joint 1-13, the third gear installation shaft 1-16, the fourth ...

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Abstract

The invention discloses an underactuated crawler wheel mechanism. The adaptability of the current tracked wheel mechanism to unstructured terrain with complex and variable terrain and large slope changes needs to be strengthened. The invention comprises a driving assembly, a driving wheel assembly, a driven wheel assembly, a swing arm assembly and a track; the driving assembly drives the driving wheel assembly; the driving wheel assembly and the driven wheel assembly are connected through the track to drive the driven wheel assembly to rotate; The components are connected through the swing arm assembly, which drives the driven wheel assembly to swing; the driving wheel assembly includes the first reducer, the second reducer, the main shaft, the driving wheel, the second external gear, the first external gear, the planetary arm, the second planet carrier, hollow shaft, second gear, output shaft, first planet carrier, first gear and main shaft bevel gear. The invention can realize the passive switching driving mode according to the actual terrain conditions, and effectively enhance the adaptability of the mobile robot to the unstructured terrain.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to an obstacle-surmounting crawler-type wheel mechanism, in particular to an underactuated crawler-type wheel mechanism. Background technique [0002] The walking mechanisms of modern mobile robots mainly include wheel type, foot type and crawler type. However, the wheel type walking mechanism is greatly affected by the diameter of the wheel and can only travel on flat terrain. The foot type walking mechanism has a strong ability to adapt to terrain, but is stable. The performance is poor, the driving speed is relatively slow and the control is relatively complicated. The crawler-type walking mechanism has strong terrain adaptability, low pressure on the ground, good stability, and relatively fast speed. It has unique advantages in energy detection and planetary exploration. Although the current tracked wheel mechanism has a certain adaptability to terrain, its adaptability to complex...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D55/125B62D55/26
CPCB62D55/125B62D55/26
Inventor 胡明王黎喆陈文华张阳李文娟田芳菲
Owner ZHEJIANG SCI-TECH UNIV
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