The wheel-track coupling robot chassis based on the separated track structure comprises wheel bodies, a vehicle body, a shifting fork, a track, a gear motor, a coupler, a main shaft and a steering engine, the wheel bodies are arranged on the two sides of the vehicle body, the track is arranged on the wheel bodies, and the wheel bodies comprise a track supporting wheel, a hanging wheel, a driving wheel, a plurality of bearing wheels and an inducing wheel, the driving wheel is connected with the first bearing wheel through a chain, the hanging wheel is arranged between the driving wheel and the vehicle body, and the belt supporting wheel is arranged above the inducer; the main shaft penetrates through the vehicle body, one end of the main shaft is connected with the coupler, the coupler is connected with the gear motor, the other end of the main shaft is sequentially connected with the change gear and the driving wheel, steering engines are arranged on the two sides of the vehicle body and connected with shifting forks, and the shifting forks are located on the upper sides of the wheel bodies. The chassis of the wheel-track coupling robot has the characteristics of simple structure and low cost, and the mounting difficulty of a suspension system is reduced.
本发明公开了一种基于分离履带结构的轮履耦合机器人底盘,包括:轮体、车体、拨叉、履带、减速电机、联轴器、主轴、舵机,所述轮体设置于车体的两侧,所述轮体上设有履带,所述轮体包括:托带轮、挂轮以及依次排布的主动轮、若干个承重轮、诱导轮,所述主动轮与第一个承重轮通过链条连接,所述挂轮设置于主动轮与车体之间,所述托带轮设置于诱导轮的上方;所述主轴贯穿车体,所述主轴的一端与联轴器连接,所述联轴器与减速电机连接,所述主轴的另一端依次连接挂轮和主动轮,所述车体的两侧均设有舵机,所述舵机与拨叉连接,所述拨叉位于轮体上侧。该轮履耦合机器人底盘具有结构简单、成本低的特点,且降低了悬挂系统的安装难度。
Wheel-track coupling robot chassis based on separated track structure
一种基于分离履带结构的轮履耦合机器人底盘
2022-05-27
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |