A deformable crawler-type walking device
A walking device and crawler-type technology, which is applied in the field of mobile robots, can solve problems such as difficult to pass through rugged mountain roads or road sections with obstacles, and achieve the effect of strong obstacle surmounting ability
Active Publication Date: 2020-10-16
BEIJING UNIV OF CIVIL ENG & ARCHITECTURE
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Problems solved by technology
[0005] The purpose of the present invention is to provide a deformable crawler-type walking device to solve the problem that the traditional crawler-type walking device is difficult to pass through rugged mountain roads or road sections with obstacles, and has the characteristics of strong obstacle-crossing ability and strong terrain adaptability
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[0047] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0048] like Figures 1 to 5 As shown, the deformable crawler-type walking device of the present invention includes a connecting frame 1, an overturning mechanism 2, a support frame 3, a mounting plate 4, and four deformation wheels, wherein each of the deformation wheels includes a track wheel 5 and a deformation mechanism 6.
[0049] Wherein, the overturning mechanism 2 is used to overturn the deformation wheel as a whole, and the overturning mechanism 2 is provided with two, respectively fixed on both sides of the connecting frame 1, and the supporting frame 3 is provided with two And respectively correspondingly fixedly connected to the front ends of the two turning mechanisms 2 , the uppe...
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The invention discloses a deformable crawler-type walking device comprising a connecting frame, overturning mechanisms and four deformation wheels, wherein the overturning mechanisms are provided withtwo and are connected to the two sides of the connecting frame respectively, the front end of each overturning mechanism is connected with a supporting frame, and mounting plates are arranged at theupper end and the lower end of the supporting frame; the four deformation wheels are arranged on the mounting plate in a one-to-one correspondence manner; each deformation wheel comprises a crawler wheel and a deformation mechanism, wherein the crawler wheel is connected to the mounting plate in a deflectable mode, and the deformation mechanism is used for driving the crawler wheel to deflect in the vertical plane relative to the mounting plate; when the walking device runs normally, the crawler wheel is at an initial horizontal position, and when the walking device encounters a road section with an obstacle, the crawler wheel is deflected to an inclined position from an initial horizontal position under the action of the deformation mechanism, and then the overturning mechanisms drive thedeformation wheels to turn over so as to cross the obstacle. The walking device in the invention not only has the characteristics of being capable of stably and safely passing the soft and muddy roadsurfaces, but also has the characteristics of being high in obstacle crossing capability and capable of smoothly passing a rough mountain road or a road section with an obstacle.
Description
technical field [0001] The invention relates to the field of mobile robots, in particular to a deformable crawler-type walking device. Background technique [0002] In recent years, with the rapid development of science and technology, more and more mobile robots have been put into the fields of fire rescue, detection and investigation, etc. These mobile robots often need to face complex terrain environments, so the mobile walking ability of these robots is proposed. strict requirements. [0003] The tracked walking device has the ability to pass through soft and muddy roads smoothly and safely, and can adapt well to soft terrain, so it is widely used in the field of mobile robots. [0004] However, the current existing crawler-type walking device lacks the ability to overcome obstacles. When encountering rugged mountain roads or road sections with obstacles, it still faces great challenges. Therefore, it is necessary to design a Or a crawler-type walking device on a road ...
Claims
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IPC IPC(8): B62D55/065B62D55/084B25J5/00
CPCB25J5/007B62D55/065B62D55/084
Inventor 秦建军黄梦雨李鑫磊高磊林键路可欣
Owner BEIJING UNIV OF CIVIL ENG & ARCHITECTURE