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Combined type obstacle crossing walking system

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

Inactive Publication Date: 2008-05-21
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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Experimental program
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Effect test

Embodiment Construction

[0014] As shown in Fig. 1 and Fig. 2, the structure and working principle of the composite obstacle-crossing walking system of the present invention are as follows:

[0015] The rear end of the rocker suspension 3 structure is connected with the rear wheel frame 29 supporting the rear wheel drive motor, and the two differential gear shafts 25 of the differential balance mechanism 2 are connected with the middle parts of the left and right rocker suspensions 3 respectively. Under the action of drive motors 8, 20, 28, the probe vehicle will drive on the uneven road surface, and the left and right rocker arm suspensions 3 will rotate with the undulations of the terrain, and the distribution of the weight of the car body on the front and rear wheels will be adjusted. The left and right differential gear shafts 25 drive the differential bevel gear 21 and the planetary gear 22 to move, and are connected with the vehicle body through the planetary gear shaft 23 to adjust the pitch ang...

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Abstract

The invention discloses a composite obstacle-surmounting walking system, which belongs to an obstacle-overriding walking mechanism. It is characterized in that it consists of a rocker suspension (3), a differential balance mechanism (2), a rear wheel (4), and a front track wheel (13), wherein the front track wheel (13) and the rocker suspension (3) Hinged and damping spring (5) is installed between the two, front crawler wheel (13) is made of track (6), internal support (9), drive motor (8,20), two driving wheels ( 7, 19), and two load-bearing wheels (12, 16) located below that are connected to the internal bracket (9) through a parallelogram mechanism (14), the side bars on both sides of the parallelogram mechanism (14) are connected to the interior Elastic stoppers (10, 18) are respectively installed between the supports (9). The composite obstacle-crossing walking mechanism has good obstacle-crossing performance, strong ground adaptability, easy control and light weight, and can be used for various special detection vehicles.

Description

technical field [0001] The invention relates to a composite obstacle-surmounting walking system, which belongs to an obstacle-overriding walking mechanism. Background technique [0002] The mobile systems of the exploration vehicle mainly include: wheel type, leg type, crawler type and compound type. The leg type walking detection robot has strong ground adaptability and good maneuverability, but the movement speed of this type of walking mechanism is slow and the control is complicated. The crawler mobile system has good obstacle-surmounting performance and strong adaptability, and is suitable for driving on the rugged lunar surface. It has a wide range of adaptability and high movement efficiency, but the overall crawler traveling mechanism is heavy and complicated. A walking mechanism with a single structural form cannot complete the detection task of complex detection environment. The compound walking mechanism proposed in recent years includes the leg-wheel compound ty...

Claims

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Application Information

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