Rocker-type double-trapezoid pedrail robot

Abstract

A rocker-type double-trapezoid tracked robot comprises a main vehicle body (1), symmetrically arranged double-trapezoid pedrail hanger brackets (2 and 17), and a connecting rod type differential action balance mechanism (18); each double-trapezoid pedrail hanger bracket is formed by the connection of two pedrail components (3 and 6) similar to trapezoid through a middle frame (5); the bottoms of the pedrail components are on the same plane surface; middles of the two double-trapezoid pedrail hanger brackets are respectively hinged to the left side and right side of the main vehicle body through revolute pairs (7 and 12) with the same coaxial line; the connecting rod type differential action balance mechanism comprises a cross rocker arm (9) and two side connecting rods (13 and 14); the middle of the cross rocker arm is hinged to one end of the main vehicle body through a revolute pair (10); the left end and the right end of the cross rocker arm are respectively hinged to one ends of the two side connecting rods through sphere pairs, and the other ends of the two side connecting rods are respectively hinged to the two double-trapezoid pedrail hanger brackets through sphere pairs. The robot has the abilities of well crossing obstacles, and adaptation to uneven and soft landforms.

Description

Technical field [0001] The invention relates to a rocker-type double-trapezoid crawler robot, which belongs to the field of mobile robot design. Background technique [0002] A mobile robot used in an unstructured terrain environment should have good obstacle-surmounting and motion performance adapting to uneven and soft terrain. China University of Mining and Technology has developed a rocker-type wheel-track robot (patent number: ZL200810023572.6), the crawler walking part assembly is W-shaped, the robot has a simple structure, has strong obstacle-crossing performance and adapts to uneven terrain performance. But because of the characteristics of its crawler structure, the obstacle-surmounting performance of the crawler traveling mechanism is affected; in addition, the contact between the crawler and the ground of this patent is similar to wheel contact, and the contact area is small, so the movement ability on soft terrain is not good. The robot adopts a built-in gear-t...

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Problems solved by technology

[0003] The purpose of the present invention is to solve the above problems, to provide a rocker-type double-trapezoid crawler robot, which has a better ability to overcome obstacles, adapt to uneven terrain and soft terrain, and solves the problem of the built-in differential balance mechanism. impact problem

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