The invention discloses a four-crawler-foot type complex road surface adaptation robot. The robot comprises an outer shell and a gear ring, four motors are arranged at the bottom of the outer shell, abevel gear is connected to an output shaft of the outer shell and connected with a transmission shaft, the outer wall of the transmission shaft is sleeved with a driving shell, the driving shell is connected with a plurality of brakes, and the gear ring is connected with a plurality of clutches; the gear ring is connected with the shock absorber, the end of the shock absorber is inserted into thedriven wheel shaft, a driven wheel is arranged on the outer wall of the driven wheel shaft, three planet wheels are meshed with the inner wall of the gear ring, the outer wall of the driving shell issleeved with a first driving wheel, and the first driving wheel is connected with a second driving wheel. The transmission shaft sequentially penetrates through the driving shell, the multiple brakes, the multiple clutches and the second driving wheel; the driven wheel, the first driving wheel and the second driving wheel are meshed with the crawler belt. As the crawler feet can be independentlycontrolled, the geometric parameters of trafficability of the robot can be changed, and the obstacle crossing capacity is greatly improved. And meanwhile, the shock absorber improves the smoothness ofthe robot, and part damage caused by excessive vibration is avoided.
本发明公开了一种四履足式复杂路面适应机器人,包括外壳体和齿圈,外壳体底部设置四个电机,其输出轴上连接有锥齿轮,锥齿轮连接传动轴,传动轴外壁套设驱动壳,驱动壳连接多片制动器,齿圈连接多片离合器,多片离合器与多片制动器间隙配合,齿圈连接减震器,减震器端部插入从动轮轴,从动轮轴外壁设有从动轮,齿圈内壁啮合有三个行星轮,驱动壳外壁套设有第一主动轮,第一主动轮连接第二主动轮,传动轴依次穿过驱动壳、多片制动器、多片离合器、第二主动轮;从动轮、第一主动轮、第二主动轮与履带啮合。由于履足可单独控制,可以改变机器人的通过性几何参数,极大增加了越障能力。同时减震器增加了机器人的平顺性,避免振动过大导致零件损害。
Four-crawler-foot type complex road surface adaptation robot
一种四履足式复杂路面适应机器人
2021-03-26
Patent
Electronic Resource
Chinese