The invention relates to a chassis reconfigurable four-swing-arm wheel-crawler robot which comprises front swing arms, driving crawler wheels, high-position motors, thrust wheel assemblies, rear swing arms, crawlers, linear guide rails, electric push rods, driving wheels, driven crawler wheels, a rear chassis, a rack plate, pneumatic springs, a front chassis, brakes, wheel shafts and clutches. The electric push rod stretches and retracts to change the length of the chassis, the chassis is shortened, the pneumatic spring extends, and the center of gravity of the robot rises, otherwise, the center of gravity of the robot descends. The high-position motor drives the track to move and cooperates with the clutch and the brake to control the swing arm to rotate, robot wheel-track running mode switching is achieved, and the rotation of the swing arm can change the distance between driving wheels and the gravity center of the robot. The front swing arm driving wheel is installed on the inner side of the swing arm, the swing arm is retracted, the driving wheel presses the crawler belt, auxiliary driving is achieved, and the pneumatic spring and the thrust wheel assembly play a role in shock absorption. The wheel track is arranged on the outermost periphery of the robot, and the robot can control the wheel track to continuously move after overturning.

    本发明涉及一种底盘可重构四摆臂轮履机器人,包括前摆臂、主动履带轮、高位电机、支重轮总成、后摆臂、履带、直线导轨、电动推杆、驱动轮、从动履带轮、后底盘、机架板、气动弹簧、前底盘、制动器、轮轴、离合器。前后底盘由直线导轨和电动推杆联接,电动推杆伸缩改变底盘长度,底盘缩短,气动弹簧伸长,机器人重心升高,反之降低。高位电机驱动履带运动,配合离合器和制动器控制摆臂转动,实现机器人轮履行驶模式切换,摆臂转动可以改变驱动轮轮距和机器人重心。前摆臂驱动轮安装于摆臂内侧,摆臂回收,驱动轮压紧履带,实现辅助驱动,气动弹簧和支重轮总成起避震作用。轮履布局处于机器人最外围,机器人发生倾覆后可控制轮履继续移动。


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    Title :

    Chassis-reconfigurable four-swing-arm wheel-tracked robot


    Additional title:

    一种底盘可重构四摆臂轮履机器人


    Contributors:
    ZOU YUPENG (author) / LAI XIAOJING (author) / SONG GE (author) / LAN TIANYU (author) / ZHOU ZHISHEN (author) / ZHANG YANXING (author) / ZHOU GUANGXU (author) / PAN KEYU (author) / GUO XINQIANG (author) / ZHANG SHUO (author)

    Publication date :

    2024-03-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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