The invention discloses a multi-mode deformable crawler belt mobile robot capable of walking by simulating ostrich toes. The multi-mode deformable crawler belt mobile robot comprises a front end guide wheel, a front thrust wheel, a rear thrust wheel, a driving wheel, a tensioning wheel and a crawler belt, the track is formed by connecting a plurality of track sections; a locking mechanism is arranged on each track section and is used for locking the track; the front-end guide wheels are arranged on the two sides of the front-end guide wheel branch pipe, and a locking driving assembly is further arranged on the front-end guide wheel branch pipe and used for driving the locking mechanism to conduct locking. The front thrust wheel and the rear thrust wheel are arranged on the two sides of the thrust wheel branch pipe, and an unlocking assembly is arranged outside the lower thrust wheel branch pipe. The unlocking assembly is used for driving the locking mechanism to conduct unlocking. The invention further discloses a moving method of the multi-mode deformable caterpillar band moving robot capable of simulating the ostrich toes to walk. Through the cooperation of the locking mechanisms between the track sections, the thrust wheels and the front guide wheel adjusting mechanisms, the mechanical characteristics of ostrich toe simulation can be achieved on sand and soft grounds, and therefore the adhesive force and traction force of the track are improved.
本发明公开了仿鸵鸟足趾行走的多模态可变形履带移动机器人,包括前端导轮、前支重轮、后支重轮、驱动轮、张紧轮和履带;履带由若干个履带节连接;每个履带节上均设置有锁紧机构,用于锁止履带;前端导轮设置在前端导轮支管两侧,前端导轮支管上还设置有锁紧驱动组件,锁紧驱动组件用于驱动锁紧机构进行锁紧;前支重轮和后支重轮均设置在支重轮支管两侧,下支重轮支管外部设置有解锁组件;解锁组件用于驱动锁紧机构进行解锁。本发明还公开了仿鸵鸟足趾行走的多模态可变形履带移动机器人的移动方法。通过履带节间的锁紧机构与支重轮、前导轮调整机构之间的配合,可以在沙地、松软地面实现仿鸵鸟足趾力学特征,从而提高履带的附着力与牵引力。
Multi-mode deformable track mobile robot capable of walking by imitating ostrich toes and moving method of multi-mode deformable track mobile robot
仿鸵鸟足趾行走的多模态可变形履带移动机器人及移动方法
27.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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