The invention provides a crawler-type swing arm robot walking mechanism which comprises a case, two main crawlers, two front swing arms and two rear swing arms, five motors are fixedly connected in the case, and a front swing arm driving motor is connected with and drives the two front swing arms to swing synchronously; the two crawler belt driving motors are located on the left side and the right side of the front portion in the machine box respectively, and each crawler belt driving motor is connected with and drives the front swing arm crawler belt, the main crawler belt and the rear swing arm crawler belt on the same side to synchronously rotate in the same direction; the two rear swing arm motors are located on the left side and the right side of the rear portion in the machine box respectively, and each rear swing arm motor is connected with and drives one set of rear swing arms to swing through a speed-reducing and torque-increasing transmission unit. And on a flat hard road surface, the crawler belt of the front swing arm and the crawler belt of the rear swing arm below the chassis are in direct contact with the road surface. The robot is simple and compact in structure, reliable in performance, low in cost and capable of achieving large-load driving, and has the high obstacle crossing and soft ground passing performance and the high stair climbing function.

    本发明提供了一种履带式摆臂机器人行走机构,包括机箱、两条主履带、两条前摆臂和两条后摆臂,在机箱内固接有五个电机,一个前摆臂驱动电机连接驱动两条前摆臂同步摆动;两个履带驱动电机,分别位于机箱内前部的左、右侧,每个履带驱动电机连接驱动同一侧的前摆臂履带、主履带和后摆臂履带同步且同方向的转动;两个后摆臂电机,分别位于机箱内后部的左、右侧,每个后摆臂电机各自经减速增扭的传动单元连接驱动一组后摆臂摆动;且在平坦硬路面上,由位于机箱下方的前摆臂的履带和后摆臂的履带直接接触路面。本发明结构简洁、紧凑,性能可靠,成本低廉,能实现大负载驱动,具有较强的越障、松软地面通过性,以及较强的爬楼梯功能。


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    Title :

    Crawler-type swing arm robot walking mechanism


    Additional title:

    履带式摆臂机器人行走机构


    Contributors:
    HU CHENGLIANG (author) / WANG XUEFENG (author) / MA YUNLONG (author) / LIN YI (author) / LIU YURU (author) / ZHANG ZHIXIAN (author) / DU YICHEN (author) / YANG LIJUAN (author)

    Publication date :

    2024-02-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



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