Joint track with posture adjusting mechanism

Abstract

The invention relates to a moving mechanism of a crawler vehicle or a crawler-type mobile robot, a joint crawler with a posture adjustment mechanism, and a chain disc at one end is nested between a large wheel rotating shaft (17) and a driving hollow shaft (26). The attitude adjustment hollow shaft (28), the three coaxial axes can rotate mutually; the insertion end of the attitude adjustment hollow shaft (28) is connected to the rod-shaped swing arm (13) through the torque damping mechanism, and the other end The small wheel (2) is connected by rotation; the length direction of the swing arm (13) is consistent with the line connecting the axes of the large wheel (14) and the small wheel (2); It can realize the active adjustment of the grounding angle of the crawler in the road environment, and has good terrain imitation ability, improves the ground adhesion of the crawler, attenuates the torsional vibration received by the front end of the crawler, moderates the impact and reduces the noise; the structure is simple and compact, and the parts are stressed Reasonable, easy to adjust the control posture, good control effect and efficiency.

Description

【Technical field】 [0001] The invention relates to a moving mechanism of a crawler vehicle or a crawler-type mobile robot, in particular to a joint mechanism capable of adjusting attitude of a crawler vehicle or a crawler-type mobile robot. 【Background technique】 [0002] Tracked vehicle or tracked mobile robot is a special mobile device. When working in a complex and dangerous working environment, the uneven road surface will affect the grounding performance of the track assembly. At the same time, obstacles on the ground will also affect the tracked robot. The mobile platform produces a certain impact load, which affects the normal work of the mobile robot mobile platform. Traditional articulated tracks are rigidly connected and cannot absorb impact loads generated by ground obstacles. And when the rigidly connected articulated track meets the uneven road surface, the terrain imitation ability is poor. Rigid articulated tracks may hang in the air when passing through high...

AI Technical Summary

Problems solved by technology

[0002] Tracked vehicle or tracked mobile robot is a special mobile device. When working in a complex and dangerous working environment, the uneven road surface will affect the grounding performance of the track assembly. At the same time, obstacles on the ground will also affect the tracked robot. The mobile platform produces a certain impact load, which affects the normal work of the mobile robot mobile platform

The traditional articulated track is rigidly connected and cannot absorb the impact load generated by ground obstacles

And when the rigidly connected articulated track meets the uneven road surface, the ability to imitate the terrain is poor

Rigid articulated tracks may hang in the air when passing through high bumps on the ground

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