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Articulated track and wheel composite mobile platform and fire-fighting robot with same

A mobile platform and crawler technology, applied to tracked vehicles, motor vehicles, transportation and packaging, etc., can solve the problems of poor terrain adaptability and single form of walking mechanism, and achieve strong terrain adaptability, good terrain adaptability, and simplified power transmission route effect

Active Publication Date: 2017-01-04
CHINA UNIV OF MINING & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the mobile chassis used for fire detection robots has a single form of walking mechanism and poor terrain adaptability

Method used

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  • Articulated track and wheel composite mobile platform and fire-fighting robot with same
  • Articulated track and wheel composite mobile platform and fire-fighting robot with same
  • Articulated track and wheel composite mobile platform and fire-fighting robot with same

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Embodiment Construction

[0067] Embodiments of the present invention will be described in detail below, and the embodiments described with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0068] Such as figure 1 , figure 2 , image 3 , Figure 4 As shown, according to the embodiment of the present invention, the combined mobile platform of articulated track and wheels includes: articulated track chassis 1, front wheel assembly 2, rear swing frame 3, rear wheel assembly 4, connecting rod 5; the articulated track chassis 1 includes: a main car body 11, a main crawler assembly 12, a main driving member 13, a swing arm crawler assembly 14, and a swing arm driving member 15; there are two main crawler assemblies 12, and the two main crawler assemblies 12 are respectively connected to the main vehicle The left and right sides of the body 11 are connected, and the main track assembly 1...

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Abstract

The invention provides an articulated track and wheel composite mobile platform. The mobile platform comprises an articulated track chassis, a front wheel assembly, a rear swing frame, a rear wheel assembly and a connecting rod. Two main track assemblies of the articulated track chassis are connected to the two sides of a main car body. A swing arm track assembly and the main track assemblies form an articulated track structure. The middle of a swing arm frame and the middle of a rear swing frame of the swing arm track assembly are connected with the front and rear ends of the main car body in a pivoted mode. The two ends of the connecting rod are hinged to the swing arm frame and the rear swing frame. The main car body, the swing arm frame, a rear cradle and the connecting rod form a four-connecting-rod mechanism. The front wheel assembly is connected with the rear end of the swing arm frame. The rear wheel assembly is connected with the tail end of the rear swing frame. A swing arm driving piece of the articulated track chassis drives the swing arm frame to swing, so that the four-connecting-rod mechanism deforms, and conversion of the track type walking mode and the wheel type walking mode is achieved. The invention further provides a fire-fighting robot adopting the articulated track and wheel composite mobile platform.

Description

technical field [0001] The invention relates to a mobile platform combined with joint crawlers and wheels and a fire-fighting robot with the same, belonging to the field of mobile robot mechanisms. Background technique [0002] Some fire detection robots need to quickly enter the detection site, detect and transmit the environmental information of the detection site in a timely manner. The terrain these robots face is very complex, with artificially constructed structural steps, stairs, ditches and other terrains, and there are post-disaster formations. The messy terrain, and some environments have narrow spaces. The characteristics of the terrain to be overcome by the fire detection robot require the mobile chassis of the robot to have the ability to overcome the above-mentioned terrain. The crawler walking system of the small mobile platform has a good ability to overcome structured terrain; the wheel walking system is efficient and flexible, and some special forms of whe...

Claims

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Application Information

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IPC IPC(8): B62D55/04B62D55/075
CPCB62D55/04B62D55/075
Inventor 李允旺代素梅田丰王勇陶陶
Owner CHINA UNIV OF MINING & TECH
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