A leg type double double-parallelogram crawler-driven search and rescue device comprises a crawler belt structure and a leg type structure, crawler belt movement and leg type movement are achieved by combining the crawler belt structure and the leg type structure, and alternate movement during walking is achieved by means of the parallel four-deformation movement principle. And comprehensive motion is realized by alternate motion of steps, alternate motion of two parallel four-deformation opposite sides and track motion. The crawler belt structure adopts a double parallelogram crawler belt structure, the crawler belt structure and the leg type structure are designed into a double-side crawler belt structure, the gravity center of the vehicle body in the advancing process is adjusted, the problem that obstacle crossing cannot be achieved due to the gravity center in the climbing process can be solved, and meanwhile the horizontal posture and the height of the vehicle body can be adjusted. The application of the track structure and the leg structure successfully solves the problem of motion stability of the tracked vehicle body in various environments, combines leg, wheel and track motions, completely realizes barrier-free motion, and is suitable for various emergency rescue and disaster relief environments.
一种腿式双平行四边形履带驱动搜救装置,包括履带结构与腿式结构,在所述履带结构与腿式结构结合在一起,实现了履带运动及腿式运动,运用平行四变形运动原理,行走时的交替运动,步伐的交替运动与平行四变形的两条对边的交替运动与履带运动实现综合运动。履带结构采用双平行四边形履带结构,履带结构与腿式结构的设计为双边履带结构,调整车体在行进过程中的重心,可以解决攀爬过程中由于重心的原因引起的无法越障问题,同时可以调整车体的水平姿态及车体高度。履带结构与腿式结构的应用,成功解决履带车体在各种环境中的运动稳定性问题,结合了腿式、轮式和履带式运动,完全实现无障碍的运动,适用于各个抢险救灾环境。
Leg-type double-parallelogram crawler-driven search and rescue device
一种腿式双平行四边形履带驱动搜救装置
2021-04-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Changeable parallelogram crawler-type in-pipe mobile operation robot
European Patent Office | 2015
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