Caterpillar band type mobile robot wheel band structure adaptive to complicated road conditions

Abstract

The invention provides a caterpillar band type mobile robot wheel band structure adaptive to complicated road conditions in the technical field of a special robot. The structure comprises a wheel hub and a caterpillar band, wherein the wheel hub consists of a wheel shaft sleeve, a center wheel disc, a plurality of wheel rods and two baffle plates; the center wheel disc is arranged between the end faces of the two baffle plates; moreover, the center wheel disc and the two baffle plates are all axially arranged on the wheel shaft sleeve; all the wheel rods respectively penetrate through the center wheel disc and are uniformly arranged between the two baffle plates to form a wheel hub tooth face; the caterpillar band consists of a band tooth face and band back teeth; toothlike bumps are uniformly distributed on the band tooth face; moreover, the band tooth face is engaged with the wheel hub tooth face; the band back teeth are respectively provided with a convex structure, and contact with the ground. According to the structure, the design structure is simple; the obstacle crossing ability is strong; the wheel hub has an ability of self-adaption and removing impurities, so that the stability of a caterpillar band robot under complicated road conditions is improved.

Description

technical field [0001] The invention relates to a walking mechanism in the field of special-purpose robots, in particular to a crawler-type mobile robot wheel belt structure adaptable to complex road conditions. Background technique [0002] In recent years, the use of robots to replace human operations has been widely adopted in extreme environments and complex sites such as planetary surface detection, accident relief, pipeline inspection, explosives disposal, and anti-nuclear radiation pollution. Tracked mobile robots have low pressure on the ground, are not prone to slipping, have good traction performance, and can well adapt to special terrains. Especially when climbing over slopes, crossing obstacles, trenches, and walking on muddy, gravel and other roads, crawler mobile robots are more superior, so they have been widely used. [0003] Since the 1980s, some experts have carried out systematic research on it. Representative ones include the Packbot series robots of iRo...

AI Technical Summary

Problems solved by technology

To a certain extent, this technology solves the technical problems of crawler robots such as complex structure, poor obstacle surmounting ability, and low carrying capacity.

However, the disadvantages of this technology are: 1. The compound structure of the wheels and legs is simple, and the height of the obstacle is limited by the length of the legs; 2. Interference factors such as dust and mud on the complex road surface are not considered, and the tire-belt contact surface is easy to accumulate impurities and block Cogging, which affects the track drive

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