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Transformable-crawler suspension bracket and robot moving platform with same

A crawler frame and crawler technology, which is applied in the field of robots, can solve the problems of non-adjustable W-shaped track suspension shape, limited terrain passability and environmental adaptability, and inability to overcome the terrain environment.

Active Publication Date: 2015-12-02
CHINA UNIV OF MINING & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the shape of the W-shaped tracked suspension is not adjustable and cannot overcome more complex terrain environments, which limits its terrain passability and environmental adaptability to some extent, and there are relatively few reports on deformable tracked suspensions

Method used

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  • Transformable-crawler suspension bracket and robot moving platform with same
  • Transformable-crawler suspension bracket and robot moving platform with same
  • Transformable-crawler suspension bracket and robot moving platform with same

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0071] refer to Figure 1 to Figure 8 ;

[0072] The technical solution adopted by the present invention to solve its technical problems is:

[0073] Such as figure 1 It is a schematic diagram of a deformed crawler suspension according to Embodiment 1 of the present invention, figure 2 It is a schematic diagram of a deformed crawler unit. A deformed crawler suspension 1000 according to Embodiment 1 of the present invention includes: an intermediate coupling frame 1 , a deformed crawler unit 2 and a deformed driving assembly 3 . There are two deformed crawler units 2 , including a first deformed crawler unit 201 and a second deformed crawler unit 202 , and the two deformed crawler units 2 are connected to the intermediate coupling frame 1 and arranged symmetrically front and rear.

[0074] Such as figure 2 , 3, 4, 5, and 6, the deformed crawler unit 2 includes a deformed crawler frame 21, a crawler wheel 22, a crawler belt 23, and a crawler belt drive assembly 24. The d...

Embodiment 2

[0083] refer to Figure 10 to Figure 12 ;

[0084] As an alternative implementation, such as Figure 10 to Figure 12 It is a schematic diagram of a deformed track suspension according to Embodiment 2 of the present invention, and the number of track wheels 22 is five. Wherein four crawler wheels 22 are respectively recorded as being connected with four rotating pairs of four-bar kinematic chain 210, identical with the deformation crawler unit 2 of embodiment one, and another crawler wheel is respectively marked as the fifth crawler wheel 225, the fifth crawler wheel 225 links to each other with the first bar 211 of four-bar kinematic chain 210, and the center of the fifth crawler wheel 225 is at the outside of the connecting line between the two ends of the first bar 211; The center of the rotation pair forms a triangle; in this embodiment, the sixth rod 216 is the frame of the six-bar mechanism, and shares the structure with the intermediate coupling frame 1 . The track 23...

Embodiment 3

[0087] refer to Figure 13 to Figure 18 ;

[0088] As an alternative implementation, such as Figure 13 , Figure 14 and Figure 15It is a schematic diagram of a deformed crawler suspension according to Embodiment 3 of the present invention, showing its highest position, middle position and lowest position respectively. The number of track wheels 22 in this embodiment is six, and four track wheels 22 are respectively recorded as being connected with four rotating pairs of the four-bar kinematic chain 210, which is the same as the deformed track unit 2 of embodiment one; the other two track wheels The wheels are respectively marked as the fifth track wheel 225 and the sixth track wheel 226, the fifth track wheel 225 is connected with the first bar 211 of the four-bar kinematic chain 210, and the center of the fifth track wheel 225 is at the two ends of the first bar 211. The outside of the connecting line between the centers; and the center of the fifth track wheel 225 form...

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Abstract

The invention discloses a transformable-crawler suspension bracket. The transformable-crawler suspension bracket comprises a middle linkage rack, two transformable crawler units and a transformation driving assembly, wherein the transformable crawler units are connected with the middle linkage rack, and are symmetrically arranged; a transformable crawler rack of each transformable crawler unit is a six-rod mechanism, and comprises a four-rod motion chain and at least four crawler wheels; the crawler wheels of each transformable crawler rack comprise a driving wheel and turning wheels; the crawler wheels are connected with rotating pairs of the corresponding four-rod motion chain, and rods of the rotating pairs; a crawler wraps the corresponding crawler wheels; a crawler driving assembly drives the driving wheels, and the crawlers are driven to rotate; the transformation driving assembly is connected with the transformable crawler racks of the transformable crawler units and drives the transformable crawler racks to be transformed, and the bottoms of the crawlers can always be kept horizontal. The invention further discloses a robot moving platform with the transformable-crawler suspension bracket. Because the transformable-crawler suspension bracket is arranged, the terrain adaptability and the passing capability of the robot are improved, and the moving stability of the robot is also improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a deformed crawler suspension and a robot mobile platform with the same. Background technique [0002] Tracked walking suspension is widely used in the field of mobile robots. It occupies an important position in rescue and disaster relief, detection and reconnaissance, industry, agriculture and military, and has good application prospects, especially in complex and difficult environments. The incomparable adaptability and passability of robots, crawler suspension is currently a hot research field. China University of Mining and Technology has developed a W-shaped crawler suspension for crawler mobile platforms (application number: CN201320552131.1). The front and rear crawler units are in the shape of a trapezoid, and the crawler running part assembly is W-shaped, with four slope-shaped track sections. , which is conducive to climbing over obstacles; the horizontal section at th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D55/116
Inventor 李允旺代素梅李彬田丰郑宇巍赵德龙张成
Owner CHINA UNIV OF MINING & TECH
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