Deformed caterpillar robot

Abstract

The invention discloses a deformed caterpillar robot which comprises a robot stand and a robot body, wherein robot body is installed on the robot stand; both sides of the robot stand are respectively provided with a set of deformed caterpillar running mechanism; each deformed caterpillar running mechanism comprises a traveling drive shaft, a caterpillar deformed drive shaft, a caterpillar and a deformed oscillating bar mechanism; each traveling drive shaft and each caterpillar deformed drive shaft are arranged on the robot stand in parallel; one end of each deformed oscillating bar mechanism is fixedly connected with each caterpillar deformed drive shaft, and the other end is supported on each traveling drive shaft by a bearing; a drive caterpillar wheel is installed on each traveling drive shaft; driven caterpillar wheels are both arranged on each caterpillar deformed drive shaft and each deformed oscillating bar mechanisms; and each drive caterpillar wheel and all driven caterpillar wheels are meshed with each caterpillar. The deformed caterpillar robot has steady running, high obstacle crossing and climbing capability, simple structure, stable working and reliable control.

Description

technical field [0001] The invention relates to a crawler robot, in particular to a robot with a crawler deformation function. Background technique [0002] When performing dangerous tasks such as anti-terrorism, detonation, search, rescue, and reconnaissance, crawler robots are often used. In order to adapt to complex and changeable environments, crawler robots are required to have sufficient maneuverability, and the crawler deformation mechanism is related to the maneuverability of crawler robots. key factor. Among the existing crawler mechanisms, the single-section double-crawler type, the double-section double-crawler type and the multi-section multi-crawler type crawler mechanism can adapt to complex terrain. Among them, the single-section double-track crawler deformation mechanism is simple to realize movement and control, and it mainly includes two structures: inverted trapezoidal and prolate. The inverted trapezoidal crawler has superior maneuverability and can clim...

AI Technical Summary

Problems solved by technology

Among them, the single-section double-track crawler deformation mechanism is simple to realize movement and control, and it mainly includes two structures: inverted trapezoidal and prolate. The inverted trapezoidal crawler has superior maneuverability and can climb higher obstacles. The center of gravity is high and the contact length between the track and the slope or stairs is short, and the movement stability is poor, while the center of gravity of the prolate track structure is low, and its stability is superior, but its flexibility, maneuverability and ability to climb obstacles are limited. In addition, the supporting wheel train frame of the two structures is fixed together with the locomotive, which seriously limits the effect of shock absorption; the double-section double-track and multi-section multi-track crawler deformation mechanism has good obstacle climbing ability and strong maneuverability , the movement is also relatively stable, but due to the too many degrees of freedom of its deformation structure, the realization of movement and control is more complicated, and the application is greatly restricted

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