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A two-wheel-leg-track compound mobile mechanism

A mobile mechanism and composite technology, which can be applied to tracked vehicles, motor vehicles, transportation and packaging, etc., can solve the problems of low moving efficiency and insufficient maneuvering flexibility, and achieve high moving efficiency, improve maneuvering flexibility, and low transmission noise. Effect

Active Publication Date: 2019-12-03
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a two-wheel-leg-track compound mobile mechanism, which can be applied to mobile robot platforms in various complex urban environments for detection, reconnaissance, sampling and handling, and effectively solves the problem of existing robot movement. Insufficient maneuverability and low movement efficiency of the mechanism for complex terrain

Method used

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  • A two-wheel-leg-track compound mobile mechanism
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  • A two-wheel-leg-track compound mobile mechanism

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Embodiment Construction

[0026] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0027] Such as Figure 1~4 As shown, the present invention includes a traveling seat body 7, a walking wheel 1, a swing leg driving mechanism and a swinging leg assembly, and two traveling wheels 1 are installed on the left and right ends of the traveling seat body 7 respectively, and a walking wheel is built in each traveling wheel 1. wheel drive motors such as Figure 4 As shown, the road wheel drive motor shaft 13 stretches out of the wheel body of the road wheel 1 and is connected with the mobile seat body 7, and the relative rotation of the road wheel drive motor body part drives the road wheel 1 to roll. Two swing leg assemblies are respectively arranged on the front and rear sides of the moving seat body 7, and two swing leg drive mechanisms are arranged on the moving seat body 7, wherein the two swing leg assemblies on either side of the moving seat ...

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Abstract

The invention relates to the technical field of specialized robots, in particular to a two-wheel-leg-caterpillar band compound type movement mechanism. The two-wheel-leg-caterpillar band compound typemovement mechanism comprises a movement seat body, walking wheels, swing leg drive mechanisms and swing leg assemblies. The two walking wheels are installed at the left end and the right end of the movement seat body. Walking wheel drive motors are arranged in the walking wheels. The swing leg assemblies are arranged on the front side and the rear side of the movement seat body. The two swing legdrive mechanisms are arranged on the movement seat body. The swing leg assemblies on the two sides of the movement seat body are driven by the different swing leg drive mechanisms to swing. The swingleg assemblies located on the same side of the movement seat body are connected through a swing leg drive shaft. The swing leg drive shafts are driven by the swing leg drive mechanisms to rotate anddrive the swing leg assemblies to swing. The swing leg assemblies are provided with caterpillar bands. When the walking wheels make contact with the ground to rotate, the caterpillar bands leave the ground, and when the caterpillar bands make contact with the ground to rotate, the walking wheels leave the ground. The problems that an existing robot movement mechanism is poor in maneuvering flexibility, low in movement efficiency and the like on a complex terrain are solved.

Description

technical field [0001] The invention relates to the technical field of special robots, in particular to a two-wheel-leg-track compound moving mechanism. Background technique [0002] In the prior art, for some complex terrain environments in the city, such as stairs, obstacles, deep ditches and ramps, etc., the mobile mechanism of most robots still uses a single mobile mechanism such as wheels, tracks or legs, and a few use Compound mobile mechanisms such as wheel-track, leg-track or wheel-leg-track, in which the passability of a single mobile mechanism is far inferior to that of a composite mobile mechanism, and in the compound mobile mechanism, the wheel-leg-track composite mobile mechanism The comprehensive passing ability is the best. [0003] In the prior art, the most widely used four-wheel-drive wheel-leg-track composite mobile mechanism, but this kind of composite mobile mechanism also has defects, such as insufficient mobility, low mobile efficiency, etc., mainly b...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D55/04
CPCB62D55/04
Inventor 姚辰王挺王永安李小凡张凯王忠苏赟
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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