The invention discloses a traveling device and method for a tracked robot. The traveling device comprises a traveling differential mechanism, a traveling transmission mechanism, a turnover mechanism and a variable track mechanism, and a traveling driving motor drives an input gear to rotate; the output shaft drives the driving track to rotate, so that the tracked robot runs normally; the overturning driving motor drives the inner shaft to drive the locking device and the locking wheel to axially move and realize interlocking, so that the tracked robot climbs over an obstacle; three non-interfering motion modes of normal running, obstacle crossing and overhigh obstacle crossing of the tracked robot are achieved through switching of the working states of a running motor and a turnover driving motor, axial movement of a locking wheel and a locking device of the variable track mechanism on an inner shaft, mutual locking and unlocking of the locking wheel and the locking device of the variable track mechanism, and the three non-interfering motion modes of normal running, obstacle crossing and overhigh obstacle crossing of the tracked robot are achieved. The configuration of the crawler mechanism is changed through the change of the angle between the crawler rod and the crawler frame, and folding of the crawler is achieved. The invention has the advantages of better motion performance and stronger environmental adaptability, and can be applied to complex driving environments.
本发明公开了一种用于履带机器人的行驶装置及行驶方法,包括行驶差速机构、行驶传动机构、翻转机构和可变式履带机构,行驶驱动电机驱动输入齿轮转动;输出轴带动驱动履带转动,使履带机器人正常行驶;翻转驱动电机驱动内轴带动锁止器与锁止轮轴向移动并实现互锁,实现履带机器人翻越障碍物;通过行驶电机和翻转驱动电机工作状态的转换,以及可变式履带机构锁止轮与锁止器在内轴上的轴向移动以及相互锁止、放开,实现履带机器人的正常行驶、翻越障碍物和过高障碍物翻越三种互不干涉的运动方式;通过履带杆和履带架之间的角度变化来改变履带机构的构态,实现履带的收叠。本发明运动性能更好,环境适应能力更强,可应用于复杂行驶环境中。
Traveling device and traveling method for tracked robot
一种用于履带机器人的行驶装置及行驶方法
2023-04-18
Patent
Electronic Resource
Chinese
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