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Deformable crawler-type running mechanism

A walking mechanism and crawler-type technology, applied in the field of robot research and engineering, can solve problems such as limited range of motion, single structure, and application restrictions of mobile robots, and achieve the effect of easy processing and manufacturing and simple structure

Inactive Publication Date: 2005-10-05
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

[0002] For mobile robots, usually its structure and shape are fixed, such as fixed structures such as wheels, crawlers, and legs, which only adapt to a single environment, thus limiting its range of motion
In order to overcome the shortcomings of the single form and structure of mobile robots, people are currently studying a composite structure integrating wheels, legs and tracks, which solves the passing ability of various grounds; but this is only for different grounds, and has not yet solved the passing of different spaces. ability, this composition method still limits the application of mobile robots

Method used

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  • Deformable crawler-type running mechanism
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  • Deformable crawler-type running mechanism

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Embodiment Construction

[0017] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0018] The appearance of the deformable crawler-type walking mechanism of the present invention is as follows: Picture 1-1 As shown, the internal structure is as Figure 1-2 , 1-3 , 1-4 shown. It consists of three modules, and the modules are connected by connecting arms; each module is composed of connecting arm 1, module pitch motor 2, track drive motor 3, track wheel 4, module deflection motor 5, and deflection bevel gear. The crawler wheels 4 are movably connected with the connecting plate, and the two crawler wheels 4 are arranged at both ends of the housing 8. The housing 8 is provided with a module pitch motor 2, a crawler belt drive motor 3 and a module mounted on the sprocket fixed and adjustable baffle plate 7. The deflection motor 5, the shaft of the module deflection motor 5 is connected with the deflection bevel gear set; one e...

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Abstract

The present invention discloses a deformable crawler-type running mechanism. It is formed from three modules, between modules a connecting arm can be used for making connection, every module is formed from connecting arm, module tilt motor, crawler drive motor, crawler wheel, module deflection motor and deflection angular gear. Said invention also provides their connection mode, and according to the background requirements said invented running mechanism can be formed into three basic forms of linear type, triangular type and parallel type.

Description

technical field [0001] The invention relates to the field of robot research and engineering, in particular to a deformable crawler-type walking mechanism. Background technique [0002] For a mobile robot, its structure and shape are usually fixed, such as fixed structures such as wheels, crawlers, and legs, which only adapt to a single environment, thereby limiting its range of motion. In order to overcome the shortcomings of the single form and structure of mobile robots, people are currently studying a composite structure integrating wheels, legs and tracks, which solves the passing ability of various grounds; but this is only for different grounds, and has not yet solved the passing of different spaces. Ability, the composition of this way makes the application of mobile robots still subject to certain restrictions. Contents of the invention [0003] In order to overcome the shortcomings of the limited application of the above-mentioned mobile mechanism, the purpose of...

Claims

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Application Information

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IPC IPC(8): B62D55/065B62D55/08
Inventor 李斌王越超刘金国马书根
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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