The invention discloses a deformable crawler chassis based on control of double driving motors and double steering engines, which is applied to obstacle crossing of a low-lying crawler robot chassis and comprises four parts, namely a front crawler group, a rear crawler group, a deformation clutch and a frame. The front track group and the rear track group are in direct contact with the ground to realize basic movement; the deformation clutch is used for changing the front track group among a first clutch position, a second clutch position and a third clutch position, so that the shape of the chassis is changed to adapt to different terrains; the frame is used for fixing the front track set, the rear track set and the deformation clutch. According to the deformable crawler chassis, the problems that a traditional high-trafficability crawler chassis is large in space proportion and a traditional deformable crawler chassis is low in load capacity are solved, simple installation and simple working principle analysis of the crawler chassis are achieved, and high-performance obstacle crossing of the low-height crawler robot chassis is achieved through a simpler and more reliable structure. The device is simple in structure, high in part interchangeability, convenient to manufacture and easy to popularize and apply.
本发明公开了一种基于双驱动电机和双舵机控制的可变形的履带底盘,应用于低趴履带机器人底盘的越障,包括前履带组、后履带组、变形离合、车架四个部分。前履带组和后履带组直接接触地面,以实现基础运动;变形离合用于改变前履带组在第一离合位置、第二离合位置、第三离合位置之间变化,从而改变底盘形状,以适应不同地形;车架用于固定前履带组、后履带组、变形离合。本可变形的履带底盘弥补了传统高通过性履带底盘空间占比大、传统可变形的履带底盘负载能力低的问题,实现履带底盘的简单安装、简单工作原理分析,以更加精简而可靠的结构实现了低高度的履带机器人底盘的高性能越障。本发明结构简单,零件互换性高,方便制作,易于推广应用。
Deformable crawler chassis
一种可变形的履带底盘
2023-09-12
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |