The invention discloses an articulated crawler motion chassis of a coal mine search and rescue robot. The chassis comprises a front-end rotary shell, a rear-end rotary shell, a middle main body part, a middle swing part, crawler belts on the left side and the right side, guide wheels and driving wheels. The front-end rotary shell and the rear-end rotary shell are connected with the middle main body parts through rotary joints, joint motors are installed at the rotary joints, the left middle main body part and the right middle main body part are connected through the middle swing part, and the left crawler belt and the right crawler belt are tensioned through a belt pressing device. The crawler belt moving chassis has high obstacle crossing performance and single-side obstacle crossing capacity, can overcome underground complex environments after disasters, and is in a three-section type; when the robot encounters an obstacle, the front-end rotating shell and the rear-end rotating shell serve as swing arms to assist in obstacle crossing; when one side of the chassis encounters an obstacle, the middle main body of the left part and the right part of the chassis can swing around the middle connecting shaft, so that the chassis is kept stable during obstacle crossing, and the articulated crawler motion chassis has high application value for complex rescue environments after disasters of underground coal mines.

    本发明公开了一种煤矿搜救机器人关节式履带运动底盘,包括前端旋转壳体、后端旋转壳体、中间主体部分、中间摆动部分、左右两侧的履带、引导轮、驱动轮;前端旋转壳体、后端旋转壳体通过旋转关节与中间主体部分连接,旋转关节处安装有关节电机,左右两个中间主体部分通过中间摆动部分连接,左右两条履带通过压带装置进行张紧。本发明的履带运动底盘具有强越障性能以及单侧越障能力,能够克服井下灾后复杂环境,该底盘为三段式,当遇到障碍物时,前端旋转壳体、后端旋转壳体作为摆臂,辅助越障,当底盘一侧遇到障碍物时,底盘左右两部分中间主体可以绕中间连接轴摆动,使底盘越障中保持平稳,对于煤矿井下灾后复杂的救援环境具有很强的应用价值。


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    Title :

    Articulated crawler motion chassis of coal mine search and rescue robot


    Additional title:

    一种煤矿搜救机器人关节式履带运动底盘


    Contributors:
    GAO YONGXIN (author) / YUAN JING (author)

    Publication date :

    2021-04-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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