The invention discloses a crawler belt type walking obstacle avoidance mechanism, and the mechanism comprises a vehicle body, crawler belt mechanisms and a swing arm mechanism, wherein the crawler belt mechanisms are arranged at the two sides of the vehicle body correspondingly and used for driving the vehicle body to move, the swing arm mechanism is arranged at the front end of the vehicle body,and the swing arm mechanism comprises a mounting panel, a swing arm driving device, U-shaped supports, a Z-shaped support and a walking mechanism, wherein the mounting panel is fixed at the front endof the vehicle body, a swing arm shaft is rotatably arranged on the mounting panel in a penetrating manner, one end of the swing arm shaft is connected with the swing arm driving device, one ends of the two Z-shaped supports are fixed on the swing arm shaft, and the other ends of the two Z-shaped supports are provided with walking mechanisms. When an obstacle is encountered, the swing arm drivingdevice drives the swing arm mechanism to move upwards, then the swing arm mechanism is in lap joint with the top of the obstacle, then the swing arm driving device drives the swing arm mechanism to move downwards, the front end of the vehicle body is lifted upwards through a counter-acting force of the obstacle, then the crawler belt mechanisms crosses the obstacle, and rapid obstacle avoidance isachieved.

    本发明公开了一种履带式行走避障机构,包括车体、履带机构和摆臂机构,车体的两侧均设置有履带机构,履带机构用于驱动车体运动,车体的前端设置有摆臂机构,摆臂机构包括安装面板、摆臂驱动装置、U形支架、Z形支架和行走机构,安装面板固定在车体的前端,安装面板上可转动的穿设有摆臂轴,摆臂轴的一端与摆臂驱动装置连接,Z形支架设置为两个,两个Z形支架的一端均固定在摆臂轴上,两个Z型支架的另一端均设置有行走机构。遇到障碍时,摆臂驱动装置驱动摆臂机构向上运动,然后将摆臂机构搭接在障碍物的顶部,然后摆臂驱动装置驱动摆臂机构向下运动,利用障碍物的反作用力将车体的前端向上抬起,然后通过履带机构越过障碍物,实现了快速避障。


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    Title :

    Crawler belt type walking obstacle avoidance mechanism


    Additional title:

    一种履带式行走避障机构


    Contributors:
    PU JUNTAO (author)

    Publication date :

    2020-11-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge




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