A crawler deformable robot mobile platform

Abstract

The invention relates to a track deformable robot mobile platform. The track deformable robot mobile platform comprises a robot body and two wheel-track composite modules. The two wheel-track composite modules are arranged on the two sides of the robot body symmetrically right and right. The robot body comprises a box body plate, a power source, a motor driver and two driving systems, and the driving systems are installed reversely. The power source, the motor driver and the two driving systems are all installed in the box body plate. The two driving systems drive the wheel-track composite modules to move correspondingly and respectively. The track deformable robot mobile platform is characterized in that each wheel-track composite module comprises a track, a track driving wheel, a synchronous pulley, a driven vehicle wheel rack, a ] transmission shaft, a main shaft, a third gear, a spring, a driving vehicle wheel, a driver vehicle wheel, a driving vehicle wheel rack, a sliding block mechanism, a second gear, a fourth gear, a driving vehicle wheel axle, two front supports, two rear supports and four track supporting wheels; the two front supports are connected through a connection frame, and the two rear supports are connected through a connection frame.

Description

technical field [0001] The invention relates to the technical field of robot mobile platforms, in particular to a crawler deformable robot mobile platform. Background technique [0002] In the existing research on robot mobile mechanisms, wheeled mobile robots have better flexibility and mobility, but they are mainly used in flat ground environments; legged mobile robots can pass through more complex ground environments, but their efficiency is low, and the control algorithm Complicated; crawler robots have been extensively applied and researched, and have both efficiency and obstacle passing performance. Ordinary crawler robots are mostly joint-swing arm structures, which actively adapt to environmental changes by adjusting the angle of the joint swing arm. This type of robot relies heavily on the environmental information fed back by sensors and active control and adjustment. The passive adaptive crawler robot can take the constraint force in the environment as an effecti...

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Problems solved by technology

[0003] The existing passive adaptive crawler robot research includes: Chinese patent No. ZL2013101764130 discloses a passive adaptive crawler deformable mobile robot platform, the robot platform uses an underactuated planar six-bar mechanism as a mechanism to support the crawler, and can Through obstacles higher than the track, but its deformation is not large, the speed of the flat road is low, and the auxiliary swing arm module does not achieve much effect in practical applications; the Chinese patent No. ZL2010102195152 discloses a self-adaptive The wheel-track composite deformation mobile robot has two wheel-track motion modes, but when it moves in wheel mode, the track is still in contact with the ground as a virtual wheel, and it must maintain the same linear speed as the driving wheel, which is easy to produce track friction with the ground

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