CN108454718A - A kind of passive adaptive robot of crawler type - Google Patents
A kind of passive adaptive robot of crawler type Download PDFInfo
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- CN108454718A CN108454718A CN201810508770.5A CN201810508770A CN108454718A CN 108454718 A CN108454718 A CN 108454718A CN 201810508770 A CN201810508770 A CN 201810508770A CN 108454718 A CN108454718 A CN 108454718A
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- car body
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- crawler type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
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- Combustion & Propulsion (AREA)
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Abstract
The present invention relates to a kind of passive adaptive robots of crawler type, including car body module, two damping modules before and after car body module, the information acquisition module mounted on car body module top and four crawler type vehicle wheels mounted on car body module both sides；The both ends of one damping module connect two crawler type vehicle wheels；Four crawler wheel constructions are identical, are in all around to be arranged symmetrically around car body module；Each crawler type vehicle wheel includes crawler belt, pulley structure and V belt translation body, on the one hand the V belt translation body connect with car body module, on the other hand connect with pulley structure；Crawler belt is installed in pulley structure outer surface；The pulley structure includes six transmission gears, two planet supporting racks, four central shafts, two central gears and two planetary gears.Each crawler type vehicle wheel of the robot by a motor drive motion, is connected by damping module so that shock-absorbing arms telescopic variation, swing rod swing, and can cross complicated landform.
Description
Technical field
The present invention relates to robot moving platform technical field, more particularly, to a kind of passive adaptive machine of crawler type
People.
Background technology
Nowadays there are various passive adaptive robots, class of establishment has：Wheeled, wheel leg type, crawler type
It is wheeled with crawler belt-.Under complicated landform, dangerous environment, for example the repair of benthos, nuclear power, calamity field are searched and rescued, military affairs are detectd
Look into, medical services, the special dimensions such as building trade, more and more floor-washing robots replace the mankind to complete task, with traditional robot
It compares, it is desirable that the structural behaviour of robot, the advance of reliability and technology overcome various difficulties of hazardous environment.Recessed
In convex rough terrain complex environment, the adaptability of the passive adaptive mobile platform of crawler type is stronger, at present by widely
Using, but there is also some disadvantages.
Application No. is 201710092030.3 Chinese patents to disclose a kind of Mars obstacle detouring sniffing robot, the robot
Walking structure corresponds to a wheel at each angle of triangle, and each wheel individually drives using the wheeled construction of triangle
It is dynamic, disadvantage is that wheeled robot is small with contact area of ground, phenomenon is easily had skidded when climbing, due to each wheel
Individually control, control system are complicated for son, not easy to operate, complicated, are only suitable for coarse, precipitous, minute asperities are uneven
It is moved in landform, but complicated landform can not be carried out.Application No. is 201510698094.9 Chinese patents to disclose one kind
Mobile robot and its operation method, walking structure are driven using four triangle crawler type belt wheels using planetary gear structure
Triangle crawler type belt wheel, when encountering obstacle, since triangle crawler type belt wheel can rotate, impact force is larger, without damping
Measure can not ensure the service life of structure.
Invention content
In view of the deficiencies of the prior art, it is passively adaptive that the technical issues of present invention intends to solve is to provide a kind of crawler type
Robot.Using the crawler type vehicle wheel of four triangles, each crawler type vehicle wheel passes through motor and drives for the robot
Dynamic movement；Crawler type vehicle wheel is connected by the damping module of suspension frame structure, according to the presence of active force so that shock-absorbing arms is flexible to be become
Change, swing rod swings, and realizes cushioning effect, can cross complicated landform, the stability of structure and highly reliable；Simultaneously should
Mount message acquisition module in robot can acquire information, and obtain external information by sensor at the scene.The machine
People can smoothly move ahead on broken terrain, can reduce the vibration that robot generates in the process of walking and reliability
By force.
The present invention solve the technical problem the technical solution adopted is that：Provide a kind of crawler type passively adaptive machine
People, car body module, two damping modules before and after car body module, the information acquisition module mounted on car body module top
And four crawler type vehicle wheels mounted on car body module both sides；The both ends of one damping module connect two crawler type vehicle wheels；Four
A crawler wheel construction is identical, is in all around to be arranged symmetrically around car body module；
On the one hand and car body each crawler type vehicle wheel includes crawler belt, pulley structure and V belt translation body, and the V belt translation body
Module connects, and is on the other hand connect with pulley structure；Crawler belt is installed in pulley structure outer surface；
The pulley structure include six transmission gears, two planet supporting racks, four central shafts, two central gears and
Two planetary gears, the center of two planet supporting racks and three marginal positions are interconnected on one by four central shafts respectively
It rises；On centrally located central shaft, and a central gear is separately installed on the inside of planet supporting rack；Positioned at three sides
The both ends of the central shaft of edge position, and it is respectively mounted on the inside of planet supporting rack that there are one transmission gears；On each central shaft
Two transmission gears be one group, totally three groups of transmission gears, between one of which transmission gear and neighbouring two central gears
It is respectively mounted there are one the planetary gear mutually engaged with the two, each planetary gear is fixed on accordingly by a connecting shaft
On the planet supporting rack of position；
The V belt translation body includes transmission belt, small pulley, drive link and big belt wheel, and centrally located central shaft is close to car body
One end of module is pierced by a central gear, corresponding planet supporting rack, drive link and is fixedly connected with big belt wheel successively；Drive link
The other end connection small pulley axle center, big belt wheel and small pulley fix distance between the two by drive link, in big belt wheel
With small band wheel outer surface by being driven band connection；The small pulley is connect with a drive part in car body module simultaneously；Institute
State big belt wheel drives central gear to move by centrally located central shaft；
Each damping module includes two big shock-absorbing arms, two small shock-absorbing arms and a rocking bar；The center of the rocking bar
Be provided with for the fixed supported hole of car body module, be equipped on the rocking bar of supported hole both sides large arm hinge hole and forearm hinge
Hole is connect, large arm hinge hole is located at the outside of forearm hinge hole, and two large arm hinge holes and two forearm hinge holes are with support
Hole is symmetrical centre；Described small shock-absorbing arms one end is fixed in car body module, and the other end is connect by forearm hinge hole with rocking bar；
Described big shock-absorbing arms one end is connect by large arm hinge hole with rocking bar, in the drive link of the other end and adjacent crawler type vehicle wheel
Portion connects；
The big shock-absorbing arms includes big underarm, big upper arm, spring and piston rod, on the top grafting of the big underarm is big
Arm installs piston rod in big upper arm, and the lower end of piston rod is pierced by big upper arm and is deep into big underarm, big upper arm and it is big under
Spring is installed, big upper arm can slide up and down in big underarm in the space between arm；The knot of the small shock-absorbing arms and big shock-absorbing arms
Structure is identical；
The car body module includes car body and four drive parts, and each drive part drives a crawler to move in turn
Make, drive part includes motor, retarder；The motor shaft of the motor is connect with retarder, and motor and retarder lead to respectively
Corresponding supporting rack is crossed in the inside fixed plate of car body, the output shaft of the retarder be pierced by car body and with V belt translation body
Small pulley by be keyed together；The output shaft contact position of the car body and retarder is equipped with bearing.
The retarder is made of gear wheel, pinion gear, output shaft, and pinion gear is fixed on the motor shaft of motor, and with
Gear wheel is intermeshed, and the center of gear wheel connects output shaft, and is connected by bearing, bearing (ball) cover between gear wheel and output shaft
It connects, gear wheel is fixed on by corresponding supporting rack in car body.
Described information acquisition module includes industry camera, anemobiagraph, antenna and wind transducer, the industry camera shooting
Head, anemobiagraph and wind transducer are connect with antenna, and antenna is connect by wireless with external control computer, and computer is passed through
Realize control robot；The upper cover antenna that described information acquisition module is located at car body has the function of receiving and emitting signal.Work
Industry camera can get off ambient enviroment and state recording, and anemobiagraph and wind transducer can record wind direction and size
Come, the external world is transmitted information to by antenna.
Compared with prior art, the beneficial effects of the invention are as follows：
1. the walking structure of the present invention is using four triangular track formula wheels, feature is：By crawler belt, pulley structure
It being formed with V belt translation body, V belt translation body structure uses planet gear transmission structure, has three groups of transmission gears, one of which to drive, and one
The planetary gear mutually engaged with the two there are one being respectively mounted between group transmission gear and two neighbouring central gears, in addition
Two groups driven；Driving transmission gear drives crawler belt to rotate, and slave drive gear is followed the rotation of crawler belt and rotated.Flat
On ground, the one side of crawler type vehicle wheel is contacted with ground, is flatly advanced without overturning；Under complicated landform, according to
By force effect so that crawler type vehicle wheel occurs corresponding overturning and surmounts obstacles, and can better adapt to environment.
2. the present invention is when complicated landform is walked, the characteristics of suspension frame structure, is：By two big shock-absorbing arms, two small shock-absorbing arms
It is formed with a rocking bar, shock-absorbing arms has elasticity, and there is cushioning effect, the centrally disposed of rocking bar to be useful for fixing with car body module
Supported hole；When encountering obstacle, changed according to the size and Orientation of power, the telescopic variation of big shock-absorbing arms and small shock-absorbing arms
Effect so that rocking bar will be swung up and down, and then the crawler type vehicle wheel at both ends is made to be in one high and one low action, have adjusted the machine
The balance of people.Stability is improved relative to existing caterpillar type robot.
3. when encountering barrier or so height difference, the present invention is not susceptible to turn on one's side, and feature is：According to by force effect,
Crawler type vehicle wheel mass centre changing, rocking bar are swung up and down, shock-absorbing arms telescopic variation, adjust car body balance, and the gradient of car body is relatively low,
It is not susceptible to turn on one's side.
Description of the drawings
Fig. 1 is a kind of overall structure diagram of embodiment of the passive adaptive robot of crawler type of the present invention.
Fig. 2 is the connection signal of pulley structure 12 and V belt translation body 13 in the passive adaptive robot of crawler type of the present invention
Figure.
Fig. 3 is the dimensional structure diagram of damping module in the passive adaptive robot of crawler type of the present invention.
Fig. 4 is the internal structure schematic diagram of big shock-absorbing arms 21 in the passive adaptive robot of crawler type of the present invention.
Fig. 5 is the inside top structural schematic diagram of car body module 3 in the passive adaptive robot of crawler type of the present invention.
Fig. 6 is movement schematic diagram of the passive adaptive robot of crawler type of the present invention on level land.
Fig. 7 is the passive adaptive robot of crawler type of the present invention wheel flip-flop movement schematic diagram when across step.
Fig. 8 faces diagram for crawler type vehicle wheel before the passive adaptive robot of crawler type of the present invention across step movement
It is intended to.
The stereochemical structure that Fig. 9 crosses step movement for crawler type vehicle wheel before the passive adaptive robot of crawler type of the present invention is shown
It is intended to.
Figure 10 crosses step, and rear crawler type vehicle wheel for crawler type vehicle wheel before the passive adaptive robot of crawler type of the present invention
Movement schematic diagram when step is not crossed also.
Movement when Figure 11 crosses step for crawler type vehicle wheel before and after the passive adaptive robot of crawler type of the present invention is shown
It is intended to.
Figure 12 is that the front view structure that the passive adaptive robot of crawler type of the present invention moves on broken terrain is shown
It is intended to.
Figure 13 is the stereochemical structure signal that the passive adaptive robot of crawler type of the present invention is moved in broken terrain
Figure.
Wherein：1- crawler type vehicle wheels, 2- damping modules, 3- car body modules, 4- information acquisition modules, 11- crawler belts, 12- bands
Wheel construction, 13- V belt translation bodies, 131- transmission belts, 132- small pulleys, 133- drive links, 134- big belt wheels, 121- transmission gears,
122- planet supporting racks, 123- central shafts, 124- central gears, 125- planetary gears, 126- connecting shafts, the big shock-absorbing arms of 21-,
The small shock-absorbing arms of 22-, 23- rocking bars, the big underarms of 210-, the big upper arm of 211-, 212- springs, 213- piston rods, 230- supported holes, 231-
Forearm hinge hole, 232- large arm hinge holes, 301- motors, 302- retarders, 303- pinion gears, 304- gear wheels, 305- outputs
Axis, 401- industry cameras, 402- anemobiagraphs, 403- antennas, 404- wind transducers.
Specific implementation mode
With reference to embodiment and attached drawing, the technical solutions of the present invention will be further described, but is not made with this
For the restriction to the application protection domain.
The passive adaptive robot of crawler type (abbreviation robot, referring to Fig. 1-5) of the present invention includes car body module 3, installation
Two damping modules 2 before and after car body module, mounted on car body module top information acquisition module 4 and be mounted on car body mould
Four crawler type vehicle wheels 1 of block both sides；The both ends of one damping module connect two crawler type vehicle wheels；Four crawler type vehicle wheel knots
Structure is identical, is in all around to be arranged symmetrically around car body module；
Each crawler type vehicle wheel 1 includes crawler belt 11, pulley structure 12 and V belt translation body 13,13 1 side of V belt translation body
Face is connect with car body module, is on the other hand connect with pulley structure；Crawler belt 11 is installed in pulley structure outer surface；
The pulley structure 12 includes six central shafts 123, two of planet supporting rack 122, four of transmission gear 121, two
A central gear 124 and two planetary gears 125, the center of two planet supporting racks 122 and three marginal positions pass through respectively
Four central shafts interconnect；On centrally located central shaft, and it is separately installed on the inside of planet supporting rack
One central gear 124；Positioned at the both ends of the central shaft of three marginal positions, and it is mounted on the inside of planet supporting rack
One transmission gear 121；Two transmission gears on each central shaft are one group, totally three groups of transmission gears, one of which transmission
The planetary gear 125, Mei Gehang mutually engaged with the two there are one being respectively mounted between gear and two neighbouring central gears
Star gear 125 is fixed on by a connecting shaft 126 on the planet supporting rack of corresponding position；
The V belt translation body 13 includes transmission belt 131, small pulley 132, drive link 133 and big belt wheel 134, centrally located
Central shaft is pierced by a central gear, corresponding planet supporting rack, drive link 133 and big band successively close to one end of car body module
Wheel 134 is fixedly connected；The axle center of the other end connection small pulley of drive link, big belt wheel and small pulley fix the two by drive link
The distance between, in big belt wheel and small band wheel outer surface by being driven band connection, and passing power；The small pulley while and vehicle
Drive part connection in module；The big belt wheel 134 drives central gear 124 by centrally located central shaft
Movement；
Each damping module 2 includes two big 21, two small shock-absorbing arms 22 of shock-absorbing arms and a rocking bar 23；The rocking bar
23 it is centrally disposed be useful for the fixed supported hole 230 of car body module, be equipped on the rocking bar of supported hole both sides large arm hinge
Hole 232 and forearm hinge hole 231 are connect, large arm hinge hole is located at the outside of forearm hinge hole, and two large arm hinge holes and two
Forearm hinge hole is using supported hole as symmetrical centre；Described 22 one end of small shock-absorbing arms is fixed in car body module, and the other end passes through
Forearm hinge hole is connect with rocking bar；Described 22 one end of big shock-absorbing arms is connect by large arm hinge hole with rocking bar, the other end with it is adjacent
Crawler type vehicle wheel drive link 133 middle part connection；
Bearing is installed on supported hole 230, can realize passive rotation on broken terrain, when encountering obstacle
When, it is changed according to the size and Orientation of power, the telescopic variation effect of big shock-absorbing arms 21 and small shock-absorbing arms 22 so that rocking bar 23
To swing up and down, so make both ends crawler type vehicle wheel 1 be in one high and one low action, car body module 3 can keep probably with
Ground is parallel and plateau, prevents mobile robot from tilting and turning on one's side, smoothly travels forward；
The big shock-absorbing arms 21 includes big underarm 210, big upper arm 211, spring 212 and piston rod 213, the big underarm
The 210 big upper arm 211 of top grafting installs piston rod 213 in big upper arm, and the lower end of piston rod is pierced by big upper arm and is deep into
In big underarm, spring is installed in the space between big upper arm and big underarm, big upper arm 211 upper in big underarm 210 can glide
It is dynamic, have the function of storing energy and damping；The big shock-absorbing arms is identical with the structure of small shock-absorbing arms；
The car body module 3 includes car body and four drive parts, and each drive part drives a crawler type vehicle wheel 1 dynamic
Make, drive part includes motor 301, retarder 302；The motor shaft of the motor 301 is connect with retarder 302, and motor and
Retarder is mounted in the inside fixed plate of car body respectively by corresponding supporting rack, and the output shaft of the retarder 302 is pierced by
Car body and with the small pulley of V belt translation body 132 by be keyed together；The output shaft contact position of the car body and retarder 302
Bearing is installed.
The retarder 302 is made of pinion gear 303, gear wheel 304, output shaft 305, and pinion gear 303 is fixed on motor
Motor shaft on, and be intermeshed with gear wheel, the center of gear wheel connects output shaft, and passes through between gear wheel and output shaft
Bearing, bearing (ball) cover connection, have good lubricating action, make the normal operation under the drive of motor 301 of output shaft 305, greatly
Gear is fixed on by corresponding supporting rack in car body.
Described information acquisition module 4 includes industry camera 401, anemobiagraph 402, antenna 403 and wind transducer 404,
The industry camera 401, anemobiagraph 402 and wind transducer 404 are connect with antenna 403, antenna 403 by it is wireless with it is outer
Portion's control computer connection realizes control robot by computer；Described information acquisition module 4 is located at the upper of car body module
Lid, antenna 403 have the function of receiving and emitting signal.Industry camera 401 can get off ambient enviroment and state recording,
Anemobiagraph 402 and wind transducer 404 can record wind direction and size, and the external world is transmitted information to by antenna 403.
Robot of the present invention can be suitably used for the height of barrier as the institute of the center of gravity no more than highest position transmission gear
There is complicated ground, the obstacle height higher that may span across, obstacle climbing ability is stronger.
A kind of operation principle that the passive adaptive robot of crawler type moves under complicated landform and adverse circumstances of the present invention
And the course of work：Four crawler type vehicle wheels 1 under the action of four motors 301 drive, can enhance robot respectively
Driving intensity, obstacle climbing ability enhancing.When robot moves ahead, the difference of 1 speed of crawler type vehicle wheel by controlling two fronts,
Realize the turning of robot；, it can be achieved that robot does straight line fortune when if 1 speed of crawler type vehicle wheel of two fronts of control is identical
It is dynamic；If changing the positive and negative rotation of motor 301, which may be implemented to advance and fall back.Motor 301 passes through retarder 302 and band
Transmission body 13 drives central gear 124 to rotate, and central gear 124 is engaged with planetary gear 125, and planetary gear 125 is passed with a pair of
Moving gear 121 engages, remaining two pairs of transmission gear 121 is in driven state.In smooth ground running, crawler belt 11 is with one
The rotation of the transmission gear 121 of driving is rotated, another two pairs driven transmission gears 121 also and then rotate, due to frictional force
Under the action of so that the one side of crawler belt is contacted with ground always, and crawler type vehicle wheel will not be overturn, and reduce crawler type vehicle wheel
Damage, ensure robot be smoothly moved.
Fig. 6-11 is please referred to, when step obstacle is climbed by robot, the height of the obstacle is higher than minimum transmission gear 121
Center of gravity, and less than highest transmission gear 121 center of gravity when, under the action of frictional force and torque so that crawler belt simultaneously with
Horizontal direction and vertical direction while simultaneously contact (Fig. 7), crawler belt is overturn so that the crawler type vehicle wheel of front
1 crosses step, and damping module 2 is according to the stress size and Orientation of crawler belt, the telescopic variation of big shock-absorbing arms 21 and small shock-absorbing arms 22
Effect so that rocking bar 23 will be swung up and down, and have the function of damping, have adjusted the balance (Fig. 8-10) of robot.In electricity
1 obstacle-detouring method of crawler type vehicle wheel of front and back is identical under the driving of machine 301, and robot can smoothly go over step
(Figure 11).
2-13 is please referred to Fig.1, when ground relief, suspension frame structure can adjust the plateau of whole robot,
Since the crawler type vehicle wheel 1 of car body both sides is not on a horizontal line so that robot vibration, damping module 2 work, according to
The size and Orientation of power changes, the telescopic variation effect of big shock-absorbing arms 21 and small shock-absorbing arms 22 so that rocking bar 23 will occur
It swings up and down so that car body module 3 can keep probably parallel to the ground or at a slight angle, prevent robot and tilt and side
It turns over, smoothly travels forward.When the height of ground relief is less than the center of gravity of minimum transmission gear 121, crawler type vehicle wheel 1
It is contacted and is moved ahead with ground with a baseplane of triangle, since the shape that the crawler belt 11 of crawler type vehicle wheel 1 is presented has radian, for
When by small obstacle, cushioning effect (Figure 12-13) is played.Robot obstacle climbing ability is relatively strong and extends service life.
Direction when in the present invention with robot ambulation defines front and back position, i.e., before the direction that robot is traveling at is,
After negative direction is.
Embodiment of the present invention is illustrative, and without being restrictive, therefore the present invention includes being not limited to specifically
Embodiment described in embodiment, other implementations that every capable field technique personnel obtain according to the technique and scheme of the present invention
Mode also belongs to the scope of the present invention.
Claims (4)
1. a kind of passive adaptive robot of crawler type, including car body module, the information collection mould mounted on car body module top
Block and four crawler type vehicle wheels mounted on car body module both sides；It is characterized in that the robot further includes being mounted on car body module
The both ends of two front and back damping modules, a damping module connect two crawler type vehicle wheels；Four crawler wheel constructions are complete
It is exactly the same, it is in all around to be arranged symmetrically around car body module；
On the one hand and car body module each crawler type vehicle wheel includes crawler belt, pulley structure and V belt translation body, and the V belt translation body
Connection, on the other hand connect with pulley structure；Crawler belt is installed in pulley structure outer surface；
The pulley structure includes six transmission gears, two planet supporting racks, four central shafts, two central gears and two
Planetary gear, the center of two planet supporting racks and three marginal positions are interconnected by four central shafts respectively；
On centrally located central shaft, and a central gear is separately installed on the inside of planet supporting rack；Positioned at three edges
The both ends of the central shaft of position, and it is respectively mounted on the inside of planet supporting rack that there are one transmission gears；On each central shaft
Two transmission gears are one group, totally three groups of transmission gears, between one of which transmission gear and neighbouring two central gears
There are one the planetary gear mutually engaged with the two, each planetary gears to be fixed on corresponding positions by a connecting shaft for installation
On the planet supporting rack set；
The V belt translation body includes transmission belt, small pulley, drive link and big belt wheel, and centrally located central shaft is close to car body module
One end be pierced by a central gear, corresponding planet supporting rack, drive link successively and be fixedly connected with big belt wheel；Drive link it is another
One end connects the axle center of small pulley, and big belt wheel and small pulley fix distance between the two by drive link, in big belt wheel and small
Band wheel outer surface is by being driven band connection；The small pulley is connect with a drive part in car body module simultaneously；It is described big
Belt wheel drives central gear to move by centrally located central shaft；
Each damping module includes two big shock-absorbing arms, two small shock-absorbing arms and a rocking bar；The rocking bar it is centrally disposed
Be useful for the fixed supported hole of car body module, it is hinged that large arm hinge hole and forearm are equipped on the rocking bar of supported hole both sides
Hole, large arm hinge hole is located at the outside of forearm hinge hole, and two large arm hinge holes and two forearm hinge holes are with supported hole
For symmetrical centre；Described small shock-absorbing arms one end is fixed in car body module, and the other end is connect by forearm hinge hole with rocking bar；Institute
It states big shock-absorbing arms one end to connect with rocking bar by large arm hinge hole, the middle part of the other end and the drive link of adjacent crawler type vehicle wheel
Connection；
The big shock-absorbing arms includes big underarm, big upper arm, spring and piston rod, the big upper arm of top grafting of the big underarm,
Piston rod is installed in big upper arm, the lower end of piston rod is pierced by big upper arm and is deep into big underarm, big upper arm and big underarm it
Between space in spring is installed, big upper arm can slide up and down in big underarm；The structure phase of the small shock-absorbing arms and big shock-absorbing arms
Together.
2. the passive adaptive robot of crawler type according to claim 1, it is characterised in that the car body module includes vehicle
Body and four drive parts, each drive part drive a crawler type vehicle wheel action, and drive part includes motor, retarder；
The motor shaft of the motor is connect with retarder, and motor and retarder are mounted on by corresponding supporting rack in car body respectively
In portion's fixed plate, the output shaft of the retarder is pierced by car body and with the small pulley of V belt translation body by being keyed together；Institute
The output shaft contact position for stating car body and retarder is equipped with bearing.
3. the passive adaptive robot of crawler type according to claim 2, it is characterised in that the retarder by gear wheel,
Pinion gear, output shaft are constituted, and pinion gear is fixed on the motor shaft of motor, and are intermeshed with gear wheel, the center of gear wheel
Output shaft is connected, and is connected by bearing, bearing (ball) cover between gear wheel and output shaft, gear wheel is solid by corresponding supporting rack
It is scheduled in car body.
4. the passive adaptive robot of crawler type according to claim 1, it is characterised in that described information acquisition module packet
Include industry camera, anemobiagraph, antenna and wind transducer, the industry camera, anemobiagraph and wind transducer with day
Line connects, and antenna is connect by wireless with external control computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810508770.5A CN108454718B (en) | 2018-05-24 | 2018-05-24 | Crawler-type passive self-adaptive robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810508770.5A CN108454718B (en) | 2018-05-24 | 2018-05-24 | Crawler-type passive self-adaptive robot |
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| CN108454718A true CN108454718A (en) | 2018-08-28 |
| CN108454718B CN108454718B (en) | 2023-06-23 |
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| CN201810508770.5A Active CN108454718B (en) | 2018-05-24 | 2018-05-24 | Crawler-type passive self-adaptive robot |
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| CN111055941A (en) * | 2020-01-02 | 2020-04-24 | 徐工集团工程机械股份有限公司 | Running gear, robot and vehicle |
| WO2020088117A1 (en) * | 2018-11-01 | 2020-05-07 | 苏州赛亚智能技术有限公司 | Damping mechanism for exploration robot |
| CN111872915A (en) * | 2020-07-14 | 2020-11-03 | 重庆大学 | Obstacle-crossing exploration robot based on oscillating crawler wheel |
| CN112918582A (en) * | 2021-03-02 | 2021-06-08 | 西安航空学院 | Deformable fire-fighting emergency robot |
| CN113086035A (en) * | 2021-04-14 | 2021-07-09 | 北京林业大学 | Anti-tipping walking device for forest fire engine |
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| CN115653028A (en) * | 2022-11-10 | 2023-01-31 | 桂林航天工业学院 | Obstacle-surmounting rescue vehicle for complex terrain |
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