The obstacle crossing robot comprises a robot body and crawler belt walking mechanisms symmetrically arranged on the two sides of the robot body, and each crawler belt walking mechanism comprises a driving gear, a middle wheel, a driven gear and a crawler belt arranged among the driving gear, the middle wheel and the driven gear; the axis of the driving gear is connected with the machine body through a driving motor, the driving gear is coaxially connected with a first tensioning wheel, the middle wheel is coaxially connected with a second tensioning wheel, the driven gear is coaxially connected with a third tensioning wheel, and the axis of the first tensioning wheel is fixedly connected with the axis of the second tensioning wheel through a first connecting rod. The axis of the second tensioning wheel is fixedly connected with the axis of the third tensioning wheel through a second connecting rod, the axis of the first tensioning wheel, the axis of the second tensioning wheel and the axis of the third tensioning wheel are all fixedly connected with a power mechanism, the shape change on the crawler belt can be achieved by independently controlling the power mechanism, and therefore different postures of the vehicle body can be switched, and the vehicle body can conveniently pass through obstacles with high perpendicularity.
本发明公开了一种履带可变形的越障机器人,包括机身主体以及对称设置在机身主体两侧的履带行走机构,每个所述履带行走机构包括主动齿轮、中间轮、从动齿轮以及设置在主动齿轮、中间轮和从动齿轮之间的履带,主动齿轮的轴心与机身主体通过驱动电机连接,主动齿轮同轴连接第一张紧轮,中间轮同轴连接第二张紧轮,从动齿轮同轴连接第三张紧轮,第一张紧轮与第二张紧轮的轴心通过第一连杆固定连接,第二张紧轮与第三张紧轮的轴心通过第二连杆固定连接,第一张紧轮、第二张紧轮、第三张紧轮轴心处均固定连接动力机构,通过独立控制动力机构,可以实现履带上的形状变化,从而可以切换车身不同的姿态,便于通过垂直度较高的障碍物。
Obstacle crossing robot with deformable tracks
一种履带可变形的越障机器人
24.01.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Spherical robot with deformable obstacle crossing impeller structure
Europäisches Patentamt | 2023
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