Crawler type passive self-adaptive robot

Abstract

The invention relates to a crawler type passive self-adaptive robot which comprises a vehicle body module, two damping modules installed on the front side and the back side of the vehicle body modulerespectively, an information collection module installed at the upper part of the vehicle body module and four crawler type wheels installed on the two sides of the vehicle body module respectively; the two ends of each damping module are connected with two corresponding crawler type wheels respectively; the four crawler type wheels have a thoroughly identical structure and are arranged around thevehicle body module in a front and back as well as left and right symmetrical manner; each crawler type wheel comprises a crawler, a belt wheel structure and a belt transmission body, and the belt transmission body is connected with the vehicle body module on one hand and is connected with the belt wheel structure on the other hand; each crawler is installed on the outer surface of the corresponding belt wheel structure; and each belt wheel structure comprises six transmission gears, two planetary supporting frames, four center shafts, two center gears and two planetary gears. By adopting therobot, each crawler type wheel is driven by a motor to move; through connection of the damping modules, damping arms stretches and varies, swing rods swing from left to right, and the robot can passacross a complex terrain.

Description

Technical field [0001] The invention relates to the technical field of robot mobile platforms, in particular to a crawler-type passive adaptive robot. Background technique [0002] Nowadays, a variety of passive adaptive robots have appeared, and the mechanism types are: wheeled, wheeled, crawler and crawler-wheeled. In complex terrain and dangerous environments, such as deep ocean, nuclear power maintenance, disaster search and rescue, military investigation, medical services, construction industry and other special fields, more and more robots replace humans to complete tasks, which are similar to traditional robots. Compared with the robot, it requires the structural performance, reliability and technological advancement of the robot to overcome various difficulties in dangerous environments. In the complex environment with uneven terrain, the crawler-type passive adaptive mobile platform has relatively strong adaptability and is currently widely used, but there are also some...

AI Technical Summary

Problems solved by technology

In the environment with complex uneven terrain, the crawler-type passive adaptive mobile platform has relatively strong adaptability and is currently widely used, but there are also some shortcomings.

[0003] The Chinese patent application number 201710092030.3 discloses a Mars obstacle detection robot. The walking structure of the robot adopts a triangular wheel structure. Each corner of the triangle corresponds to a wheel, and each wheel is driven independently. Because the wheeled robot has a small contact area with the ground, it is prone to slipping when climbing a slope. Since each wheel is controlled independently, the control system is complex, difficult to operate, and the structure is complicated. It is only suitable for rough, steep, and slightly uneven terrain. Movement, but not for complex terrain

The Chinese patent application number 201510698094.9 discloses a mobile robot and its operation method. The walking structure uses four triangular crawler pulleys, and the planetary wheel structure drives the triangular crawler pulleys. The pulley will rotate, and the impact force is relatively large. Without shock absorption measures, the service life of the structure cannot be guaranteed.

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