CN114986471B - Rigid-flexible crawler-type robot - Google Patents
Rigid-flexible crawler-type robot Download PDFInfo
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- CN114986471B CN114986471B CN202210693856.6A CN202210693856A CN114986471B CN 114986471 B CN114986471 B CN 114986471B CN 202210693856 A CN202210693856 A CN 202210693856A CN 114986471 B CN114986471 B CN 114986471B
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 56
- 239000010959 steel Substances 0.000 claims abstract description 56
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims 2
- 230000002452 interceptive effect Effects 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000000149 penetrating effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a rigid-flexible crawler-type robot which comprises a crawler, a flange plate, a supporting plate, a driver, a fixed arm I, a fixed arm II, eight sections of flexible arms and a steel wire rope, wherein the flange plate is arranged on the crawler; the crawler is connected with the supporting plate through the flange plate, and the supporting plate can rotate along with the flange plate; the two sections of fixed arms, the flexible arms and the driver are fixed on the supporting plate; the fixed arm I and the supporting plate relatively rotate in a rope driving mode; the fixed arm I and the fixed arm II relatively rotate in a rope driving mode; the tensioning devices are arranged on the driving devices for rotation between the fixed arm I and the supporting plate and between the fixed arm I and the fixed arm II, so that the steel wire rope can effectively drive the two sections of fixed arms; the first flexible arm and the second fixed arm relatively rotate in a rope driving mode; the output end of the driving device for controlling the first flexible arm is provided with a steel wire rope guiding device, so that the steel wire rope and parts are prevented from interfering to generate additional friction resistance, and the applicability is wider.
Description
Technical Field
The invention relates to the field of rope-driven robots for detecting narrow cavities, in particular to a rigid-flexible crawler-type robot.
Background
In the field of narrow cavity detection, the flexible arm is used as a mechanical arm with high redundancy, complex space environment can be dealt with in the detection process, the problems of insufficient space and efficiency of narrow cavity defect detection are overcome, the quality and inertia of the flexible arm are ensured to be small through rope drive control, and the flexible arm has the advantages of being more stable, quick in response, high in precision and the like in the control process;
the flexible arm is arranged on the two sections of fixed arms in a rigid-flexible arm combined mode, the movement space of the two sections of fixed arms can compensate the problem of long detection target distance, the flexible arm is ensured to fully exert the flexibility and obstacle avoidance capability, and the combination of the fixed arm and the flexible arm can realize wider working space;
In the field of rigid arm control, compared with a mode of directly using a motor to drive a mechanical arm, the rotation of the arm is controlled by a rope driving mode, so that the mechanical arm has the advantages of strong mechanism adjustability, compact space, easiness in assembly and disassembly and the like, and a steel wire rope is fixed with a driving mechanism by utilizing a bolt, so that the condition of releasing force caused by slipping of the steel wire is prevented;
the flexible robot with the fixed base is only suitable for operation control in a certain range of fixed points when in work, and has no flexible movement capability of the base and limited working space. In the field cavity detection scene, the rigid-flexible arm in the rigid-flexible crawler robot is arranged on the crawler and can be controlled to move to a designated position integrally, and the crawler can adapt to a complex field road surface, so that the application universality of the detection robot is effectively improved;
In the narrow cavity detection field, the rigid-flexible crawler robot can be suitable for detecting defects of indoor cavities, and can detect narrow cavities in the environment with wide detection range and flexible target positions in the field.
Disclosure of Invention
The invention aims to provide a rigid-flexible crawler type robot applicable to field complex cavity detection, so as to solve the problems of poor moving capability and limited reachable working space range of a pure flexible arm, a rigid arm and flexible arm hybrid robot.
The technical scheme adopted by the invention is as follows: the rigid-flexible crawler-type robot specifically comprises a crawler, a flange plate, a supporting plate, a driver, a fixed arm I, a fixed arm II, a first flexible arm, a second flexible arm, a third flexible arm, a fourth flexible arm, a fifth flexible arm, a sixth flexible arm, a seventh flexible arm, an eighth flexible arm, a fixed bolt I-I, a left side plate of a fixed arm base, a rotating shaft I, a flange bearing I, a left side plate of the fixed arm I, a steel wire rope I, a rotating shaft II, a flange bearing II, a fixed shaft between the side plates, a left side plate of the fixed arm II, a left side plate of the fixed arm connection, a grooved large pulley, a fixed bolt II-I, a positioning bolt I, a double-wire rod driving device I, a tensioning device, a double-wire rod driving device III, a double-wire rod driving device IV, a positioning bolt guiding device, a steel wire rope II-I, a right side plate of the fixed arm II-I, a steel wire rope II-II, a positioning bolt III and a fixed inner side plate of a screw driver. The structure of the fixed arm I is centrosymmetric, and a set of identical rope driving mechanisms are respectively arranged on the left side plate and the right side plate of the fixed arm I and are respectively used for driving the fixed arm I and the fixed arm II to rotate;
Further, the flange plate is fixed on the crawler, the flange plate can rotate around the central axis relative to the crawler, the supporting plate and the flange plate are fixed through bolts, and the supporting plate, the rigid flexible arm and the driver on the supporting plate synchronously rotate around the central axis of the flange plate under the driving of the flange plate;
further, the steel wire rope I is fixed on the double-wire rod driving device I through the fixing bolt I, a motor and a speed reducer in the double-wire rod driving device I are arranged on the same side of the screw rod in the direction, through holes are formed in the front end and the rear end of the driving device I and used for penetrating through the steel wire rope, and the whole track of the steel wire rope forms a plane and is parallel to the left side plate of the fixing arm I;
Further, the steel wire rope is threaded out of the rear end of the double-wire rod driving device I to the tensioning device, the steel wire rope is coiled to the U-shaped grooved pulley at a tangential angle, and the steel wire rope is threaded out of the front end of the double-wire rod driving device I to the large grooved pulley at a tangential angle;
further, a sliding bolt in the tensioning device can move in a guide groove on the left side plate of the fixed arm I, and the distance between the movable side plate and the fixed square column is adjusted by rotating a thrust bolt under the loosening of the sliding bolt so as to control the tightness of the steel wire rope I;
Further, the large pulley with the groove is connected with the fixed arm II through a bolt, the double-wire rod driving device I drives the steel wire rope I when in operation, the steel wire rope I pulls the large pulley with the groove to rotate, and the fixed arm II is controlled to rotate around the central axis of the rotating shaft I;
further, the first flexible arm is provided with one degree of freedom, is driven by the steel wire ropes II-I and II-II, the expansion directions of the two steel wire ropes are opposite when the flexible arm works, the two screw rod driving devices control the movement of the steel wire ropes, one rotation of the flexible arm is realized, the middle of the steel wire ropes pass through the guiding device, and the additional friction resistance caused by the relative movement between the steel wire ropes and the static parts is avoided;
compared with the prior art, the invention has the following characteristics:
1. the invention relates to a rigid-flexible crawler-type robot, which is integrally in an assembled structure, wherein two sections of rigid arms are formed by connecting a left side plate and a right side plate with a rotating shaft, the internal installation assembly is convenient, the executing mechanism of each part of functions is simple, and the assembly and the disassembly and the position adjustment of parts are easy;
2. According to the invention, two sections of fixed arms are driven by ropes, the driving devices are arranged on two side plates, the space is sufficient, the layout is easy to adjust, and the tensioning devices are arranged in the device to adjust the tightness of the steel wire ropes, so that the steel wire ropes are ensured to be effectively stressed and driven during working;
3. According to the invention, the flexible arm is driven by a rope, the steel wire rope is output from the double-wire rod driving device and then connected to the steel wire rope guiding device, and the trend of the steel wire rope is guided by utilizing the pulley bearing combination, so that the steel wire rope is output from the driving device in an axial posture, and the influence of friction resistance generated by contact of the steel wire rope and parts such as an output end plate of the driving device on the control precision is avoided;
4. The invention adopts a structural scheme of combining a rigid arm, a flexible arm and a crawler, the rigid-flexible hybrid arm has larger reachable working space and stronger space obstacle avoidance capability, and meanwhile, the whole robot can meet the detection requirements of high degree, space complexity and wide target range in various environments such as indoor and outdoor to a great extent by utilizing the stronger moving capability of the crawler;
Drawings
FIG. 1 is a schematic view of the overall structure of a rigid-flexible tracked robot;
FIG. 2 is a schematic view of the assembly of the pallet, flange, and crawler of the present invention;
FIG. 3 is a schematic view of a driving mechanism for rotating a fixed arm II relative to the fixed arm II according to the present invention;
FIG. 4 is a schematic view of a tensioner in a fixed arm rotary drive mechanism of the present invention;
FIG. 5 is a schematic view of an assembly of a flexible arm-drive mechanism according to the present invention;
FIG. 6 is a schematic view of a wire rope guide according to the present invention;
FIG. 7 is a schematic diagram of a driving mechanism of a second flexible arm of the present invention;
in the drawings, the components represented by the respective reference numerals are explained as follows:
1-tracked vehicle, 2-flange plate, 3-supporting plate, 4-driver, 5-fixed arm I, 6-fixed arm II, 7-flexible arm I,
8-Flexible arm II, 9-flexible arm III, 10-flexible arm IV, 11-flexible arm V, 12-flexible arm V, 13-flexible arm V, 14-flexible arm V, 15-fixing bolt 1-1, 16-fixing arm base left side plate, 17-rotation shaft I, 18-flange bearing I, 19-fixing arm I left side plate, 20-wire rope I, 21-rotation shaft II, 22-flange bearing II, 23-inter-side plate fixed shaft, 24-fixing arm II left side plate, 25-fixing arm connecting left side plate, 26-grooved large pulley, 27-fixing bolt 2-1, 28-fixing bolt I, 29-double wire rod driving device I, 30-tensioning device, 31-moving side plate, 32-U-shaped grooved pulley 33-fixing bolt III-I, 34-thrust bolt, 35-fixing square column, 36-moving side plate central shaft, 37-flange bearing III, 38-sliding bolt, 39-double wire rod driving device III, 40-double wire rod driving device IV, 41-positioning bolt IV, 42-wire rope guiding device, 43-wire rope II-I, 44-fixing arm II right side plate, 45-arm joint I-I, 46-wire rope II-II, 47-positioning bolt III, 48-screw driver fixing inner side plate, 49-V type bearing pulley I, 50-pulley fixing shaft I, 51-V type bearing pulley II, 52-pulley fixing shaft II, 53-pulley fixing shaft III, 54-V type bearing pulley III, 55-pulley fixed shaft IV, 56-V type bearing pulley IV, 57-trapezoidal locating plate, 58-wire rope I, 59-wire rope II, 60-carbon fiber tube I, 61-arm joint I-II, 62-arm joint II-I, 63-cross axle, 64-wire rope III and 65-outside backing plate.
Detailed Description
The application is further described below with reference to the accompanying drawings: the embodiment is implemented on the premise of the technical scheme of the application, and specific implementation modes and operation processes are provided, but the protection scope of the application is not limited to the following embodiments.
As shown in fig. 1,2, 3 and 5, the rigid-flexible tracked robot according to the present invention includes a tracked vehicle 1, a flange 2, a pallet 3, a driver 4, a fixed arm i 5, a fixed arm ii 6, a first flexible arm 7, a second flexible arm 8, a third flexible arm 9, a fourth flexible arm 10, a fifth flexible arm 11, a sixth flexible arm 12, a seventh flexible arm 13, an eighth flexible arm 14, a fixing bolt i-i 15, a fixed arm base left plate 16, a rotating shaft i 17, a flange bearing i 18, a fixed arm i left plate 19, a wire rope i 20, a rotating shaft ii 21, a flange bearing ii 22, an inter-plate fixing shaft 23, a fixed arm ii left plate 24, a fixed arm connecting left plate 25, a grooved large pulley 26, a fixing bolt ii-i 27, a positioning bolt i 28, a double wire rod driving device i 29, a tensioning device 30, a double wire rod driving device iii 39, a double wire rod driving device iv 40, a positioning bolt iv 41, a wire rope guiding device 42, a wire rope ii-i 43, a fixed arm ii right plate 44, an arm joint ii-i 45, a wire rope ii-i 45, a wire rod ii-ii 46, and a wire rod iii driver 48. Wherein, rigid arm I5 structure is central symmetry, is equipped with one set of same two filament pole rope drive arrangement on the both sides board, drives fixed arm I5 and fixed arm II 6 respectively. The support plate 3 is connected with the crawler 1 through the flange plate 2, the flange plate 2 is fixed on the crawler 1, the support plate 3 is fixed with the flange plate 2 through the bolt connection, a driving motor of the flange plate 2 is arranged inside the crawler 1, and the flange plate 2 drives the support plate and rigid and flexible arms on the support plate to rotate when rotating.
As shown in fig. 3, threaded holes are formed in two sides of the double-wire rod driving device i 29, the double-wire rod driving device i is fixed on the left side plate 19 of the fixed arm i through bolts, the wire rope i 20 passes through the middle hole of the double-wire rod driving device i 29, one position on the wire rope i 20 is fixed on the movable sliding block of the double-wire rod driving device i 29 through the positioning bolts i 28, and the sliding block is pushed to move through the wire rod so as to pull the wire rope to move towards a specified direction.
As shown in fig. 3, the wire rope i 20 bypasses the large pulley 26 with a groove in the middle of the pulley, the inner hole of the large pulley 26 with a groove is matched with the flange bearing ii 22, so that the large pulley with a groove rotates relative to the rotating shaft ii 21, a threaded hole is drilled on the cylindrical surface to install a bolt, one position of the wire rope i 20 is fixed with the large pulley 26 with a groove, and the large pulley 26 with a groove rotates under the movement of the wire rope i 20 by using the tangential force of the bolt fixing position.
As shown in fig. 4, the fixed square column 35 is mounted on the fixed arm i left side plate 19 by a fixing bolt iii-i 33, the movable side plate 31 is mounted on the fixed arm i left side plate 19 by a sliding bolt 38, and the sliding bolt 38 is adjustable in position in a bar-shaped sink groove on the outer side of the fixed arm i left side plate 19, which is parallel to the center line of the thrust bolt 34.
As shown in fig. 4, the fixed square column 35 is connected with the movable side plate 31 through a thrust bolt 34, the movable side plate central shaft 36 is fixed with the movable side plate 31, and a flange bearing iii 37 is installed between the U-shaped sheave 32 and the movable side plate central shaft 36, so that the U-shaped sheave 32 does not shift in position on the movable side plate central shaft 36 when rotating.
As shown in fig. 4, two holes penetrating through the thrust bolt 34 on the fixed square column 35 are through holes, two holes penetrating through the thrust bolt 34 on the movable side plate 31 are threaded holes, in the working state, the steel wire rope i 20 applies an upward force perpendicular to the central line of the central shaft 36 of the movable side plate to the U-shaped grooved pulley 32, the thrust bolt 34 is always propped against the fixed square column 35, and the movable side plate 31 is close to the fixed square column 35 by screwing the thrust bolt 34, so that the tensioning process of the steel wire rope i 20 is completed.
As shown in fig. 5 and 6, one end of the steel wire rope II-I43 is fixed to a movable slide block on the double-wire rod driving device III 39 through a positioning bolt IV 41, the steel wire rope II-I43 is driven to move through the movement of the movable slide block, a straight line formed by the steel wire rope II-I43 in the double-wire rod driving device III 39 is tangential to a circle where the groove bottom of the V-shaped bearing pulley I49 is located, the steel wire rope II-I43 is output from the double-wire rod driving device III 39 to keep the original direction, interference with the driving device is avoided, and the trend of the steel wire rope II-I43 is the same.
As shown in fig. 5 and 7, the left side and the right side of the arm joint I-I45 are cylindrical bosses, the cylindrical bosses are respectively connected to the left side plate 24 of the fixed arm II and the right side plate 44 of the fixed arm II through matched bearings, and the arm joint I-I45 rotates around the central line of the outer backing plate 65 by driving the movement of the steel wire ropes II-I43 and the steel wire ropes II-II 46;
As shown in FIG. 7, the first flexible arm 7 and the second flexible arm 8 are connected by using a Hooke hinge structure to form a joint with two degrees of freedom, the two degrees of freedom are mutually perpendicular, when the first flexible arm and the second flexible arm 8 are overlapped with each other, the first steel wire rope 58, the second steel wire rope 59 and the third steel wire rope 64 are the same in length between the arm joints I-II 61 and the arm joints II-I62, and the length between the arm joints I-II 61 and the arm joints II-I62 is used for driving the three steel wire ropes to rotate the two flexible arms, so that each joint movement is controlled by three drivers.
The scope of the invention is defined by the appended claims. The above disclosed embodiments are illustrative of substantially all of the general details of the invention and are not intended to limit the scope of the invention. Improvements are made on the basis of the present invention, and equivalents and modifications made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (6)
1. A rigid-flexible crawler-type robot is characterized in that: the crawler comprises a crawler (1), a flange plate (2), a supporting plate (3), a driver (4), a fixed arm I (5), a fixed arm II (6), a first flexible arm (7), a second flexible arm (8), a third flexible arm (9), a fourth flexible arm (10), a fifth flexible arm (11), a sixth flexible arm (12), a seventh flexible arm (13), an eighth flexible arm (14) and a left fixed arm base plate (16);
Wherein, the flange plate (2) and the supporting plate (3) are fixed on the crawler (1); the driver (4) and the left side plate (16) of the fixed arm base are fixed on the supporting plate (3); the head end of the fixed arm I (5) is connected with the left side plate (16) of the fixed arm base in a hinge mode; the tail end of the fixed arm I (5) is connected with the head end of the fixed arm II (6) in a hinge mode; the tail end of the fixed arm II (6) is connected with the head end of the flexible arm I (7) in a hinge mode; the flexible arm I (7) and the flexible arm II (8), the flexible arm II (8) and the flexible arm III (9), the flexible arm III (9) and the flexible arm IV (10), the flexible arm IV (10) and the flexible arm V (11), the flexible arm V (11) and the flexible arm V (12), the flexible arm V (12) and the flexible arm V (13) are connected in a Hooke hinge mode, and the flexible arm V (13) and the flexible arm V (14) are connected in a Hooke hinge mode;
The fixed arm I (5) is composed of a rotating shaft I (17), a flange bearing I (18), a left side plate (19) of the fixed arm I, a steel wire rope I (20), a rotating shaft II (21), a flange bearing II (22), a positioning bolt I (28), a double-wire rod driving device I (29) and a tensioning device (30); the double-wire rod driving device I (29) and the tensioning device (30) are fixedly arranged on the inner side of the left side plate (19) of the fixed arm I; the left side plate (19) of the fixed arm I is fixed with the rotating shaft I (17) through bolts, and a flange bearing I (18) is arranged between the rotating shaft I (17) and the left side plate (16) of the fixed arm base; the steel wire rope I (20) is fixed on the double-wire rod driving device I (29) through the positioning bolt I (28), and the steel wire rope I (20) sequentially passes through the double-wire rod driving device I (29), the U-shaped grooved pulley (32) and the grooved large pulley (26);
The fixed arm II (6) consists of a fixed shaft (23) between side plates, a left side plate (24) of the fixed arm II, a left side plate (25) of the fixed arm connection, a large pulley (26) with a groove, a fixed bolt II-I (27), a double-wire rod driving device III (39), a double-wire rod driving device IV (40), a positioning bolt IV (41), a wire rope guiding device (42), a wire rope II-I (43), a right side plate (44) of the fixed arm II, a wire rope II-II (46), a positioning bolt III (47) and a fixed inner side plate (48) of a screw rod driver; the double-wire rod driving device III (39) and the double-wire rod driving device IV (40) are arranged between the right side plate (44) of the fixed arm II and the fixed inner side plate (48) of the screw rod driver, and the steel wire rope guiding device (42) is fixedly arranged on the inner side of the right side plate (44) of the fixed arm II; the fixed shaft (23) between the side plates fixedly connects the left side plate (24) of the fixed arm II with the left side plate (25) of the fixed arm connection, and the fixed bolt II-I (27) fixes the large pulley (26) with the groove on the left side plate (25) of the fixed arm connection; one end of a steel wire rope II-I (43) is fixed on a double-wire rod driving device III (39) through a positioning bolt IV (41), the other end of the steel wire rope II-I is fixed in an upper side positioning hole of an arm joint I-I (45), one end of the steel wire rope II-II (46) is fixed on the double-wire rod driving device IV (40) through a positioning bolt III (47), and the other end of the steel wire rope II-I is fixed in a lower side positioning hole of the arm joint I-I (45);
The steel wire rope guiding device (42) is composed of a V-shaped bearing pulley I (49), a pulley fixed shaft I (50), a V-shaped bearing pulley II (51), a pulley fixed shaft II (52), a pulley fixed shaft III (53), a V-shaped bearing pulley III (54), a pulley fixed shaft IV (55), a V-shaped bearing pulley IV (56), a trapezoid positioning plate (57) and eight fixed bolts; the flexible arm I (7) is formed by fixedly connecting an arm joint I-I (45), a carbon fiber tube I (60) and an arm joint I-II (61); the cylindrical bosses of the arm joints I-I (45) and the cylindrical bosses of the arm joints I-II (61) are respectively matched with inner holes at the front end and the rear end of the carbon fiber tube I (60), and the connecting positions are fixed by screws; the right side plate (44) of the fixed arm II is fixedly connected with the trapezoid positioning plate (57) through a pulley fixing shaft I (50), a pulley fixing shaft II (52), a pulley fixing shaft III (53) and a pulley fixing shaft IV (55), and the V-shaped bearing pulley I (49), the V-shaped bearing pulley II (51), the V-shaped bearing pulley III (54) and the V-shaped bearing pulley IV (56) are respectively arranged on the pulley fixing shaft I (50), the pulley fixing shaft II (52), the pulley fixing shaft III (53) and the pulley fixing shaft IV (55).
2. A rigid-flexible tracked robot according to claim 1, wherein: the support plate (3) is connected with the crawler (1) through the flange plate (2), the flange plate (2) is fixed on the crawler (1), and the support plate (3) is fixedly connected with the flange plate (2) through bolts.
3. A rigid-flexible tracked robot according to claim 1, wherein: the fixed arm I (5) rotates around the central axis of the rotating shaft I (17) relative to the left side plate (16) of the fixed arm base, and the left side plate (16) of the fixed arm base is fixed on the supporting plate (3) through the fixed bolts I-I (15) and the adjacent bolts.
4. A rigid-flexible tracked robot according to claim 1, wherein: the tensioning device (30) is composed of a movable side plate (31), a U-shaped grooved pulley (32), a fixed bolt III (33), a thrust bolt (34), a fixed square column (35), a movable side plate central shaft (36), a flange bearing III (37) and a sliding bolt (38); the fixed square column (35) is arranged on the left side plate (19) of the fixed arm I through a fixed bolt III-I (33), the movable side plate (31) is connected with a sliding bolt (38), the fixed square column (35) is connected with the movable side plate (31) through a thrust bolt (34), the central shaft (36) of the movable side plate is fixedly connected with the movable side plate (31), and a flange bearing III (37) is arranged between the U-shaped grooved wheel (32) and the central shaft (36) of the movable side plate.
5. A rigid-flexible tracked robot according to claim 1, wherein: the wire rope II-I (43) sequentially passes below the V-shaped bearing pulley I (49), above the V-shaped bearing pulley II (51) and finally connected to the arm joint I-I (45), and the wire rope II-II (46) sequentially passes below the V-shaped bearing pulley III (54), above the V-shaped bearing pulley IV (56) and finally connected to the arm joint I-I (45).
6. A rigid-flexible tracked robot according to claim 1, wherein: a Hooke hinge structure is formed between the first flexible arm (7) and the second flexible arm (8) by adopting a cross shaft (63), through holes are uniformly distributed on the arm joint disc, pass through steel wire ropes, and the steel wire ropes I (58), the steel wire ropes II (59) and the steel wire ropes III (64) pass through all arm joints and are connected to the arm joints II-I (62).
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| CN202210693856.6A CN114986471B (en) | 2022-06-19 | 2022-06-19 | Rigid-flexible crawler-type robot |
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| CN202210693856.6A CN114986471B (en) | 2022-06-19 | 2022-06-19 | Rigid-flexible crawler-type robot |
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| CN114986471B true CN114986471B (en) | 2024-07-12 |
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| JP4607442B2 (en) * | 2003-10-07 | 2011-01-05 | 国立大学法人東京工業大学 | Crawler type traveling robot |
| CN206967474U (en) * | 2017-06-26 | 2018-02-06 | 南京航空航天大学 | Rope driving multiple degrees of freedom series connection mechanical arm |
| CN109955286A (en) * | 2019-04-26 | 2019-07-02 | 哈尔滨工业大学（深圳） | Rope drives flexible robot's experiment porch |
| CN113757329A (en) * | 2021-08-20 | 2021-12-07 | 北京工业大学 | Double-screw rod rope driving structure |
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| CN104369178A (en) * | 2014-11-14 | 2015-02-25 | 福建省泉州市第七中学 | Robot with flexible arms |
| CN110002006A (en) * | 2019-04-25 | 2019-07-12 | 北京工业大学 | A kind of four crawler type lunar rover devices for assisting astronaut's operation and building lunar base |
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