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Reverse-quadrilateral bisectional track robot

A crawler robot and quadrilateral technology, applied in tracked vehicles, motor vehicles, transportation and packaging, etc., can solve problems such as insufficient flexibility, and achieve the effects of improving obstacle-surpassing ability, flexible and changeable linkage mechanism, and high track stability

Active Publication Date: 2011-08-31
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to overcome the shortcoming of the lack of flexibility of the crawler-type mobile robot, and at the same time give full play to the flexible and changeable characteristics of the linkage mechanism, so that the mobile robot can better adapt to changes in the driving ground, so as to improve the mobility of the mobile robot. Obstacle clearance

Method used

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  • Reverse-quadrilateral bisectional track robot
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Embodiment Construction

[0055] The present invention will be further described below in conjunction with the accompanying drawings.

[0056] A reverse quadrilateral two-section crawler robot, such as figure 1 As shown, the crawler robot includes a connecting rod module A, a first crawler module B1, a second crawler module B2, a third crawler module B3, and a fourth crawler module B4, and through the connecting rod module A, the first crawler module B1, the second crawler module The second crawler module B2, the third crawler module B3, and the fourth crawler module B4 are connected to form a reverse quadrilateral double-section crawler robot.

[0057] The connection between the above modules:

[0058] Through the two through holes on the track side plates of the first crawler module B1 and the third crawler module B3 and the two corresponding through holes on both sides of the first car body 1 of the connecting rod module, use bolts and nuts to connect the second A crawler module B1 and a third cra...

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Abstract

The invention discloses a reverse-quadrilateral bisectional track robot, relating to a track mobile robot, in particular to a connecting rod module comprising four track modules and a reverse-quadrilateral mechanism. The connecting-rod mechanism is beneficial to overcoming the defect of insufficient flexibility of the track mobile robot and performing the characteristic of flexibility and changeableness of a connecting-rod mechanism so as to enable the mobile robot to better adapt to changes of the traveled ground and improve the obstacle navigation performance of the mobile robot. The robot comprises a connecting-rod module (A), a first track module (B1), a second track module (B2), a third track module (B3) and a fourth track module (B4), wherein the track modules and the connecting-rodmodule are respectively provided with a motor, the connecting-rod module is a reverse-quadrilateral mechanism, the first track module and the third track module are connected with a first vehicle body (1), and the second track module and the fourth track module are connected with the second vehicle body (6). The reverse-quadrilateral bisectional track robot has the characteristics of high stability, flexibility and changeableness, is applicable to bumpy ground and has improved obstacle navigation capability.

Description

technical field [0001] The present invention relates to a kind of reverse quadrilateral two-section crawler robot, more specifically, it relates to a kind of composite mobile robot which is composed of four crawler modules and a set of antiparallelogram mechanism. Background technique [0002] Tracked mobile robots, wheeled mobile robots and legged mobile robots are the three most widely studied mobile robots and are currently the most widely used mobile robots. Compared with the other two mobile robots, the tracked mobile robot is characterized by good stability and strong passability. It can walk on uneven ground, pass obstacles and climb over larger slopes or stairs. However, the control of the movement direction of the tracked mobile robot is controlled by the speed difference between the left and right tracks. Therefore, there will be problems such as sliding, large resistance, poor turning radius and center accuracy when turning. Although the traditional tracked mobil...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D55/065
Inventor 姚燕安田耀斌张楠
Owner BEIJING JIAOTONG UNIV
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