The deformable crawler-type robot moving platform comprises an anti-explosion vehicle body and two deformable crawler-type moving mechanisms symmetrically arranged at the left end and the right end of the anti-explosion vehicle body. The design principle of the deformable crawler-type moving mechanism is based on the single ellipse theorem, and the deformable crawler-type moving mechanism comprises a main driving wheel, a main swing arm tensioning wheel, a driven wheel, a main swing arm electric push rod with a brake, a double-planet auxiliary deformation mechanism, two sets of shock-proof bearing wheel sets, a frame and a rubber crawler belt. The double-planet auxiliary deformation mechanism is mounted on the outer side of the main driving wheel; the anti-explosion vehicle body comprises an anti-explosion vehicle body shell, an anti-explosion vehicle body inner end cover and an anti-explosion vehicle body outer end cover; deformation of the crawler-type moving mechanism can be achieved through the main swing arm electric push rod with the brake, the stability of the moving mechanism can be improved through the design of the double-planet auxiliary deformation mechanism, and the crawler-type moving mechanism can be suitable for various obstacle environments; the design of the anti-explosion vehicle body meets the anti-explosion requirement of the natural gas station, and meanwhile subsequent disassembly and maintenance of workers are facilitated. According to the method, Ansys software is used for conducting statics analysis on the driving shaft of the double-planet auxiliary deformation mechanism and the driving shaft of the main swing arm electric push rod with the brake, the strength of parts is checked, and it is verified that the phenomenon that the parts fail due to the fact that the torque is too large in the working process is avoided.

    本发明公开了一种可变形履带式机器人移动平台,包括防爆车体,2个对称设置于防爆车体左右两端的可变形履带式移动机构。所述可变形履带式移动机构的设计原理基于单椭圆定理,包括主驱动轮、主摆臂张紧轮、从动轮、含制动器的主摆臂电动推杆、双行星辅助变形机构、2套避震承重轮组、车架和橡胶履带;所述双行星辅助变形机构安装在主驱动轮外侧;所述防爆车体包括防爆车体外壳、防爆车体内端盖、防爆车体外端盖;本发明利用含制动器的主摆臂电动推杆可实现履带式移动机构的变形,双行星辅助变形机构的设计既可提高移动机构的稳定性,又可适用于多种障碍物环境;防爆车体的设计满足天然气站场的防爆要求,同时便于工作人员的后续拆卸维修。本发明利用Ansys软件对双行星辅助变形机构驱动轴和含制动器的主摆臂电动推杆驱动轴进行静力学分析,校核了零件强度,验证了零件不会发生因工作时扭矩过大导致失效的现象。


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    Titel :

    Transformable tracked robot moving platform


    Weitere Titelangaben:

    一种可变形履带式机器人移动平台


    Beteiligte:
    BAI FENG (Autor:in) / LOU BINGNAN (Autor:in) / YUAN HAIFENG (Autor:in)

    Erscheinungsdatum :

    12.12.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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