The invention relates to a multi-track omni-directional driving device, and belongs to the technical field of tunnel robots. The end, away from the ground, of the device comprises a control platform, and the end, close to the ground, of the device comprises four double-track sub-moving devices and a power supply. The control platform is connected with the power supply and the double-track sub-moving device; the power supply is connected with the double-track sub-moving device and the control platform; the double-track sub-moving device comprises a sub-device supporting structure, a fixing shaft, a stepping motor, a gear motor and two symmetrical track structures. Each crawler belt structure comprises a crawler belt, a crawler belt driving wheel and a crawler belt supporting wheel; the crawler driving wheels and the crawler supporting wheels are meshed with the crawler; the crawler driving wheel is driven by a speed reducing motor which is fixed on the sub-device supporting structure and is provided with a speed measuring encoder, and the power of the speed reducing motor comes from a stepping motor; the crawler belt supporting wheels are connected to the sub-device supporting structures through fixing shafts. According to the invention, multi-track omni-directional driving is realized through the double-track sub-moving device under one driving device.
本发明涉及一种多履带全向行驶装置,属于隧道机器人技术领域。本装置远离地面一端包括控制平台,装置靠近地面一端包括四个双履带子移动装置与电源供应器;控制平台与电源供应器、双履带子移动装置相接;电源供应器连接双履带子移动装置与控制平台;双履带子移动装置包括一个子装置支撑结构、固定轴、步进马达、减速电机和两个对称的履带结构;每个履带结构包括履带、履带驱动轮和履带支撑轮;履带驱动轮和履带支撑轮与履带啮合;履带驱动轮由固定在子装置支撑结构上且带有测速编码器的减速电机驱动,减速电机的动力来自于步进马达;履带支撑轮通过固定轴连接在子装置支撑结构上。本发明在一个行驶装置下通过双履带子移动装置实现多履带全向行驶。
Multi-track omni-directional driving device
一种多履带全向行驶装置
2022-11-15
Patent
Elektronische Ressource
Chinesisch
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