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一种三角履带式移动机构
Alternative TitleTriangular crawler-type moving mechanism
智迪; 姚辰; 李小凡; 何子清; 王忠; 王挺; 罗宇; 徐梁; 刘敏杰
Department机器人学研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status有权
Abstract本发明涉及特种机器人的行走机构,具体地说是一种三角履带式移动机构,底盘箱体的两侧对称设有多个三角履带总成,每一侧三角履带总成具有独立的驱动电机,两侧的三角履带总成分别通过传动装置与驱动电机连接;三角履带总成包括支架、驱动轮、导向轮、支撑轮、连杆、减震器、涨紧杆及履带,驱动轮由驱动电机驱动旋转,支架的上部与驱动轮铰接,下部铰接有导向轮;支撑轮分别与连杆和减震器的一端铰接,连杆的另一端铰接于支架,减震器的另一端铰接于安装在支架上的涨紧杆;驱动轮、导向轮及支撑轮之间通过履带包裹相连。本发明的三角履带总成具有减震功能,保护了底盘箱体内的各零部件和电器件,提高了移动机构的可靠性和通过性。
Other AbstractThe invention relates to a travelling mechanism of a specialized robot, in particular to a triangular crawler-type moving mechanism. A plurality of triangular crawler assemblies are symmetrically arranged on two sides of a chassis box, the triangular crawler assemblies on each side are provided with an independent driving motor, and the triangular crawler assemblies on the two sides are connected with the driving motors through transmission devices respectively. Each triangular crawler assembly comprises a support, a driving wheel, a guide wheel, a supporting wheel, a connecting rod, a shock absorber, a tension rod and a crawler, wherein the driving wheel is driven to rotate by the corresponding driving motor, the upper portion of the support is hinged to the driving wheel, the guide wheel is hinged to the lower portion of the support, the supporting wheel is respectively hinged to one end of the connecting rod and one end of the shock absorber, the other end of the connecting rod is hinged to the support, the other end of the shock absorber is hinged to the tension rod mounted on the support, and the driving wheel, the guide wheel and the supporting wheel are connected in a wrapped manner through the crawler. The triangular crawler assemblies have a shock absorption function, parts and electric devices in the chassis box are protected, and reliability and trafficability of the moving mechanism are improved.
PCT Attributes
Application Date2012-12-17
2014-06-18
Date Available2016-05-04
Application NumberCN201210547778.5
Open (Notice) NumberCN103863423A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/15014
Collection机器人学研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
智迪,姚辰,李小凡,等. 一种三角履带式移动机构[P]. 2014-06-18.
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