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Combined type obstacle crossing walking system

A walking system and composite technology, applied to tracked vehicles, motor vehicles, transportation and packaging, etc., can solve the problems of self-adaptation to terrain and other issues that need to be improved, and achieve high obstacle and climbing capabilities, easy control, and overall weight light effect

Inactive Publication Date: 2009-12-09
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These forms of composite structures all need to control the position and attitude of the components in the running gear according to the terrain changes, and the ability to autonomously adapt to the terrain needs to be improved.

Method used

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  • Combined type obstacle crossing walking system
  • Combined type obstacle crossing walking system
  • Combined type obstacle crossing walking system

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Effect test

Embodiment Construction

[0013] Combine figure 1 with figure 2 As shown, the structure and working principle of the composite obstacle-crossing walking system of the present invention are as follows:

[0014] The rear end of the rocker arm suspension 3 is connected to the rear wheel frame 29 supporting the rear wheel drive motor. The two differential gear shafts 25 of the differential balance mechanism 2 are respectively connected to the middle of the left and right rocker arm suspensions 3. Under the action of the driving motors 8, 20, 28, the rover will drive on uneven roads. The left and right rocker arm suspension 3 will rotate with the undulating terrain. The weight distribution of the vehicle body on the front and rear wheels will be adjusted. At the same time, the left and right rocker arm suspension 3 will pass. The left and right differential gear shafts 25 drive the differential bevel gear 21 and the planetary gears 22 to move, and the planetary gear shafts 23 are connected with the vehicle bo...

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Abstract

The invention discloses a composite obstacle crossing walking system, belonging to obstacle crossing mechanism. The invention is characterized in that the invention consists of a rocker arm suspension (3), a differential balance mechanism (2), a rear wheel (4) and a front crawler wheel (13); wherein, the front crawler wheel (13) and the rocker arm suspension (3) between which a damping spring (5) is arranged are pivotally connected together; the front crawler wheel (13) consists of a crawler (6), an internal bracket (9), driving motors (8, 20), two driving wheels (7, 19) arranged on the upper part of the internal bracket and two bearing wheels (12, 16) arranged on the lower part and connected with the internal bracket (9) by a parallelogram mechanism (14); elastic retaining blocks (10, 18) are respectively arranged between the side rods at the two sides of the parallelogram mechanism (14) and the internal bracket (9). The composite obstacle crossing walking mechanism has the advantages of good obstacle crossing performance, strong ground adaptability, easy control, light weight and can be applied to a plurality of specific probing vehicles.

Description

Technical field [0001] The invention relates to a composite obstacle-crossing walking system, which belongs to an obstacle-crossing walking mechanism. Background technique [0002] The mobile system of the rover mainly includes: wheeled, legged, crawler and composite. The legged walking detection robot has strong ground adaptability and good maneuverability, but this type of walking mechanism has slow motion and complex control. The crawler-type mobile system has good obstacle crossing performance and strong adaptability. It is suitable for driving on the rugged lunar surface. It has a wide range of adaptation and high movement efficiency, but the overall crawler walking mechanism is bulky and complex. A walking mechanism with a single structure cannot complete the detection task of a complex detection environment. The compound walking mechanism proposed in recent years includes the leg-wheel compound type (Li Jinliang, Lu Tiansheng, Sun Youxia. The principle of motion and parame...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D55/02
Inventor 李舜酩尚伟燕
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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