Tracked robot with main arms of variable structures

Abstract

The invention discloses a tracked robot with main arms of variable structures. The tracked robot comprises a trolley body, platform drive motors, first reducer casings, a double-output-shaft turbine reducer casing, a main arm motor, wheel-leg motors and second reducer casings. The platform drive motors, the first reducer casings, the double-output-shaft turbine reducer casing, the main arm motor, the wheel-leg motors and the second reducer casings are arranged in the trolley body. The two sides of the double-output-shaft turbine reducer casing are connected with the telescopic main arms through connecting rods. The first reducer casings are connected with one ends of the telescopic main arms through transmission shafts correspondingly. The platform drive motors are connected with drive wheels through the first reducer casings correspondingly. The double-output-shaft turbine reducer casing is electrically connected with the main arm motor. The wheel-leg motors are connected with triangular-wheel wheel-leg mechanisms and driven wheels through the corresponding second reducer casings. According to the racked robot with the main arms of the variable structures, structural variation is enriched by introducing the swing arm triangular-wheel mechanisms, the obstacle-crossing performance of the robot is improved, the motion mechanism of step climbing, slope climbing and channel crossing of the robot is analyzed, and the robot is good in obstacle crossing capability.

Description

technical field [0001] The invention relates to a robot, in particular to a crawler robot with a variable configuration of a main arm, belonging to the technical field of intelligent electronic products. Background technique [0002] Rescue robot technology originally originated from battlefield reconnaissance and battlefield cleaning in the military field. At present, the application of robots to disaster search and rescue work has been theoretically discussed, and the configuration design of the mechanism body is an important part of rescue robots. Four-track and six-track robots have high obstacle stability, low grounding pressure, and good passing performance, but slow speed and high power consumption; the rocker-type four-wheel robot mobile platform has small mass, simple mechanism, and fast walking speed. However, the terrain adaptability and passing performance have certain limitations; the multi-joint snake robot based on the spatial linkage mechanism has strong terr...

AI Technical Summary

Problems solved by technology

[0002] Rescue robot technology originally originated from battlefield reconnaissance and battlefield cleaning in the military field. At present, the application of robots to disaster search and rescue work has been theoretically discussed, and the configuration design of the mechanism body is an important part of rescue robots. Four-track and six-track robots have high obstacle stability, low grounding pressure, and good passing performance, but slow speed and high power consumption; the rocker-type four-wheel robot mobile platform has small mass, simple mechanism, and fast walking speed. However, the terrain adaptability and passing performance have certain limitations; the multi-joint snake robot based on the space linkage mechanism has strong terrain adaptability, but the mechanism is complex and difficult to control

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