Deformable parallelogram crawler-type ground unmanned platform
A parallelogram, unmanned platform technology, used in tracked vehicles, motor vehicles, transportation and packaging, etc., can solve the problems of insufficient flexibility and maneuverability, small contact area of inverted trapezoidal track, and large contact area of flat and long track. , to achieve the effect of improving terrain adaptability
Inactive Publication Date: 2016-10-12
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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Problems solved by technology
At present, the crawler system mainly has inverted trapezoidal and prolate structures in terms of structural shape. The inverted trapezoidal track has a small contact area with the ground, and the steering friction resistance is small. It is easy to drive and turn at high speed on a flat road. Its maneuverability is superior, but it is not conducive to climbing. Larger steep slopes or vertically stepped walls
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[0021] A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
[0022] Such as figure 1 and 3 As shown, the ground unmanned platform includes a vehicle body platform 10, a deformable crawler running mechanism 20 and a suspension system 30, wherein the deformable crawler running mechanism is arranged on both sides of the vehicle body platform, and is connected with the vehicle body platform through the suspension system for Drive the body platform to move.
[0023] In this embodiment, six deformable crawler running mechanisms are used, which are divided into three pairs and arranged symmetrically on both sides of the body platform, which are divided into front wheels, middle wheels and rear wheels in turn. Each set of deformable crawler running mechanisms is driven by a separate motor Walking, the steering function of the body platform is realized by the differential speed control between the deformable c...
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The invention provides a deformable parallelogram crawler-type ground unmanned platform which comprises a vehicle body platform and at least two pairs of deformable crawler walking mechanisms symmetrically arranged on the two sides of the vehicle body platform. The deformable crawler walking mechanisms and the vehicle body platform are connected through suspension systems. Each deformable crawler walking mechanism comprises a driving mechanism in a parallelogram shape in the vertical plane, and a deformation mechanism used for adjusting the parallelogram height of the driving mechanism. Each parallelogram geometrical shape is formed on the vertical plane through a driving wheel, guide wheels and a crawler, the included angle between deformation connecting rods is controlled through a deformation driving motor, then, the parallelogram geometrical shape of each driving mechanism is controlled, and therefore the different movement postures of each crawler deformable mechanism are obtained. The deformable parallelogram crawler-type ground unmanned platform adapts to various complex terrains through changes of walking postures of the deformable crawler walking mechanisms and mutual combinations thereof, and the terrain adaptability of the ground unmanned platform is greatly improved.
Description
technical field [0001] The invention relates to the technical field of ground unmanned vehicles, in particular to a deformable parallelogram crawler-type ground unmanned platform. Background technique [0002] The unmanned ground platform has the characteristics of high mobility and strong carrying capacity, and can play a huge role in tasks such as patrol and reconnaissance, anti-terrorism and stability maintenance, unexploded ordnance disposal, battlefield rescue, improvised explosive device detection, mine detection and logistics support. For ground unmanned platforms, good passability is one of the most important performances, especially when operating in an unstructured environment, good flexibility and adaptability are required. Due to the crawler type has the advantages of large traction, low grounding ratio, strong climbing ability, small turning radius, etc., it has high passability on sandy, muddy and rough roads, and has been used on various ground unmanned platfo...
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Login to View More IPC IPC(8): B62D55/065B62D55/10B62D55/116
CPCB62D55/065B62D55/10B62D55/116
Inventor 朱茂飞梁华为丁骥陶翔丁袆李碧春
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI